Laboratory product transport element and path arrangement

ABSTRACT

The invention concerns a laboratory product transport element for a laboratory transport system with an energy receiver and/or energy accumulator to provide drive power, at least one signal receiver to receive control signals, a control unit to generate drive signals as a function of at least one control signal obtained from the at least one signal receiver, movement devices for independent movement of the laboratory product transport element on a transfer path as a function of the drive signals of the control unit, in which the drive devices are driven by the drive power and at least one holder to hold a laboratory product being transported. The invention also concerns a laboratory transport system with at least one laboratory product transport element according to an embodiment of the invention and a transfer path arrangement. The invention also concerns methods for operation of laboratory transport systems according to an embodiment of the invention.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a non-provisional of and claims the benefit of thefiling date of U.S. provisional application No. 61/486,108 filed on May13, 2011, which is herein incorporated by reference in its entirety forall purposes.

BACKGROUND

Embodiments of the present invention relate to a laboratory transportsystem that is used in automated medical laboratory in-vitro diagnosticsystems for handling patient samples. The transport system of theinvention comprises at least one transfer path arrangement and at leastone laboratory product transport element which transports laboratoryproducts, such as patient samples, and methods for its operation.Embodiments of the invention also relate to a laboratory producttransport element and a transfer path arrangement for a laboratorytransport system.

Laboratory transport systems such as gripper systems are used in medicallaboratories to transport sample tubes from one processing station toanother processing station. Such sample tubes may comprise a samplefluid such as blood, and the sample fluid can be processed for chemical,biological or physical examination.

Individual tubes in the known systems are transported by means ofpassive laboratory product transport elements (“pucks”), which are movedon an active transport system. By passive it is meant that the puckscannot move on their own. Active transport systems for moving the pucksfrom one station to the other include a moving pathway upon which thepucks are positioned or another mechanism for pushing or pulling thepuck along a pre-defined path. Examples of moving pathways include chainor belt conveyors. Each possible path is defined by a separate chain orbelt conveyor. This produces a complex layout and a high demand formechanical and electronic components. The drives for the conveyor areoften very space-intensive. If the motor used to drive a conveyor, forexample, protrudes laterally beyond the actual transport geometry thiswould preclude the placement of a second conveyor adjacent to the first.Another example of a type of system for moving pucks along apre-determined path is disclosed in U.S. Pat. Nos. 7,028,831 and7,264,111. This latter system requires the use of a complicatedmechanism for moving the magnets along a pre-determined path. Theseconventional systems require large complicated mechanisms which takespace underneath or adjacent to the puck path. Conveyor drive systemshave large areas that are not usable for the transport of pucks atdeflections of the chain/belt. It is therefore difficult to implementbranching at right angles. In addition, during a change of the puck froma chain or belt to another chain or other belt, a large vibration canoccur for the puck, which is not tolerable for many sample materials.

In conventional systems, the mechanical components needed to operate thechain or belt conveyor system or the magnetic transport system arecomplex. If an element, like a switch, brake or sensor, fails in aconventional system, this can lead to shutdown of the complete transportsystem, until the disturbance has been eliminated by a servicetechnician.

Finally, changing paths in conventional conveyor systems can bemechanically demanding and expensive. That is, when using a conventionalconveyor system, the ability to transport samples according to differentprotocols is limited, because of the physical constraints provided bysuch conveyor systems.

The task embodiments of the invention is to provide a laboratorytransport system, methods for its operation, a laboratory producttransport element and a transfer path arrangement, which permit simpleand reliable operation and entail lower design demands. Embodiments ofthe invention address these and other problems, individually andcollectively.

BRIEF SUMMARY

In some embodiments, a laboratory product transport element for alaboratory transport system is provided, where the laboratory producttransport element is self-propelled. The laboratory product transportelement includes an energy source to furnish drive power. At least onesignal receiver is provided to receive control signals. A control unitis provided to generate drive signals as a function of at least onecontrol signal obtained from the at least one receiver. The laboratoryproduct transport element also includes at least one movement devicewith which the laboratory product transport element can moveindependently on a transfer path. At least one drive device is providedto drive the movement devices as a function of the drive signals of thecontrol unit. The drive devices may be driven by the drive power. Thelaboratory product transport element also includes at least one holderto hold a laboratory product to be transported.

Some embodiments include methods for operation of a laboratory transportsystem in which an objective is stipulated to a laboratory producttransport element. The control unit of the laboratory product transportelement generates drive signals for the drive devices of the laboratoryproduct transport element by means of a transfer path geometry stored ina memory of the laboratory product transport element and the enteredobjective.

Some embodiments include methods for operation of a laboratory transportsystem in which a sequence of drive signals is stored in a memory of alaboratory product transport element. They correspond to a desired pathon the at least one transfer path, and the drive devices of thelaboratory product transport element move the laboratory producttransport element by means of the movement devices and as a function ofthe drive signals.

Some embodiments include methods for operation of a laboratory transportsystem in which the laboratory product transport element is controlledin real time.

Some embodiments include methods for operation of a laboratory transportsystem in which the laboratory product transport element is oriented bymeans of active or passive orientation features on the transfer patharrangement.

Other embodiments of the invention can relate to pre-defined laboratoryproduct transport element movement profiles, self-diagnosis, kidnappingprotection, fine positioning and lift-off protection, throughput atintersections, energy saving mechanisms, and sample quality protection.

These and other embodiments of the invention are described in furtherdetail below, with reference to the Figures and the DetailedDescription.

BRIEF DESCRIPTION OF THE DRAWINGS

A further understanding of the nature and advantages of the differentembodiments may be realized by reference to the following drawings. Inthe appended figures, similar components or features may have the samereference label. Further, various components of the same type may bedistinguished by following the reference label by a dash and a secondlabel that distinguishes among the similar components. If only the firstreference label is used in the specification, the description isapplicable to any one of the similar components having the same firstreference label irrespective of the second reference label.

FIG. 1A shows a perspective partial view of a variant of a laboratorytransport system in accordance with various embodiments.

FIG. 1B shows a perspective view of a variant of a laboratory producttransport element in accordance with various embodiments.

FIG. 1C shows a side sectional view of a variant of the laboratoryproduct transport in accordance with various embodiments.

FIG. 1D shows a perspective view of a variant of the laboratory producttransport element in accordance with various embodiments from below.

FIG. 1E shows a view of the variant of the laboratory product transportelement in accordance with various embodiments without side protection.

FIG. 1F shows a cutout from a transfer path of a laboratory transportsystem in accordance with various embodiments.

FIGS. 2A-2G show an example of a use of a predefined movement profile inaccordance with various embodiments.

FIG. 3 shows another example of a use of a predefined movement profilein accordance with various embodiments.

FIGS. 4A, 4B, and 4C show an example of self-diagnosis of laboratorytransport system in accordance with various embodiments.

FIGS. 5A and 5B show an example of fine positioning of a laboratoryproduct transport element in accordance with various embodiments.

FIGS. 6A, 6B, 6C, and 6D show another example of fine positioning of alaboratory product transport element in accordance with variousembodiments.

FIGS. 7A-7D show an example of lift-off prevention of a laboratoryproduct transport element in accordance with various embodiments.

FIGS. 8A-8D show another example of lift-off prevention of a laboratoryproduct transport element in accordance with various embodiments.

FIGS. 9A-9J show an example of throughput control at an intersection, adiversion example in this case, in accordance with various embodiments.

FIGS. 10A-10F show another example of throughput control at anintersection, a merge example in this case, in accordance with variousembodiments.

FIG. 11A-11E show another example of throughput control at anintersection, a pull-off example in this case, in accordance withvarious embodiments.

FIGS. 12A-12F show another example of throughput control at anintersection, a short cut example in this case, in accordance withvarious embodiments.

FIGS. 13A and 13B show another example of throughput control at anintersection utilizing RFID tags in accordance with various embodiments.

FIG. 14 shows a block diagram showing elements of a laboratory producttransport element.

FIG. 15 shows a block diagram of a system for controlling a laboratoryproduct.

DETAILED DESCRIPTION

The following detailed description may utilize terms as provided belowto describe different aspects of different embodiments.

A “laboratory product” may refer to a variety of different containersthat may be transported within a laboratory transport system. Examplesof such containers include, but are not limited to, a test tube, asample tube, a sample container, or any container that may be configuredto hold a laboratory sample. In addition, a laboratory product may becapped or uncapped in different situations. Also, in some embodiments ofthe invention, laboratory product may also be pre-centrifuged prior tobeing transported.

A “laboratory product transport element” may include a variety ofdifferent transport elements configured to transport a laboratoryproduct within a laboratory transport system. A laboratory producttransport element can transport a laboratory product (e.g., a sampletube) using any suitable mode of transport. Exemplary laboratory producttransport elements may include devices which facilitate movement of theelement, such as wheels. The transport element can transport one or morelaboratory products (e.g., a sample container with a sample in it).

A “laboratory transport system” according to an embodiment of theinvention can include at least one laboratory product transport elementaccording to an embodiment of the invention and a transfer patharrangement. A laboratory transport system may include a variety ofdifferent subsystems. For example, some laboratory transport systems mayinclude a transfer path arrangement and one or more laboratory producttransport elements. Some laboratory transport systems may be activetransport systems, while others may be passive transport systems. Anactive transport systems may include chain or belt conveyors upon whichlaboratory product transport elements are moved, or transport elementsare moved along a path by the magnetic attraction of one or more magnetsthat are moved along the pre-determined path. Passive transport systemsutilize self-propelled transport elements that can avoid the use ofchain or belt conveyors or movable magnets, and instead move alongtransfer surfaces utilizing different movement components that are partof the laboratory product transport element itself.

A “transfer path” may refer to a variety of different surfaces within alaboratory transport system upon which a laboratory product transportelement may travel. In some cases, a transfer path may include a smoothsurface. A transfer path may be part of a transfer path arrangement thatmay include one or more transfer paths along with other features in somecases. Suitable examples of transfer paths may include a horizontal webwith side limitations (e.g., walls) which can confine the movement of alaboratory product transport element. In some cases, the transfer pathmay have a marker (e.g., a line) which can be followed by a laboratoryproduct transport element. Transfer paths may head in one or moredirections.

A “transfer path arrangement” may include additional features, some ofwhich may be active while others may be passive. A transfer patharrangement may include, but not limited to, barriers, markers,indicators, sensors, transmitters, receivers, electrical conductors,power sources, electromagnetic radiation sources, and/or opticaldevices.

A “sensor” may refer to a variety of different sensors configured todetect aspects or signals within a laboratory transport system. Sensorsmay include, but are not limited to: line-following sensors configuredto detect line markers within a laboratory transport system; collisionsensors configured to detect markers, obstacles, and/or other laboratoryproduct transport elements; and reflective sensors configured to detectone or more position indicators. In some cases, sensors may include RFIDreaders and/or near-field communication devices.

An “energy source” may refer to a variety of sources of power forcomponents of a laboratory transport system. Energy sources may includesources of drive power for one or more laboratory product transportelements. Energy sources may include an energy receiver and an energyaccumulator in some cases. An energy accumulator may include, but is notlimited to one or more batteries and/or fuel cells. Energy sources mayalso include, but are not limited to, voltage sources that may provideenergy to a transfer path arrangement.

A “movement device” may refer to a variety of different components thata laboratory product transport element may utilize to move independentlyalong a transfer path. A movement device may include, but is not limitedto, a wheel, ball, etc.

A “drive device” may refer to a variety of different components that maydrive a movement device. A drive device may receive drive signals from avariety of different sources, including a control unit in some cases. Adrive device may include, but is not limited to, different motors suchas direct current electric motors.

A “laboratory product transport element” according to an embodiment ofthe invention can have an energy receiver and/or an energy accumulatorto furnish drive power. At least one signal receiver serves to receivecontrol signals, as a function of which a control unit can generatedrive signals. Depending on the control signals, drive devices drivemovement devices, with which the laboratory product transport elementcan independently move on a transfer path. The drive devices areoperated with the drive power received from the energy receiver and/orstored in an energy accumulator of the laboratory product transportelement. Finally, the laboratory product transport element has at leastone holder to hold a laboratory product being transported.

An “energy receiver” can include any suitable device that is capable ofreceiving energy and is capable of providing such energy to a laboratoryproduct transport element. Examples of energy receivers include aninduction coil, a photosensitive element (e.g., a photovoltaic cell), alight receiver, a radio signal receiver, etc.

A “signal transmitter” may be any suitable device capable oftransmitting a signal from a laboratory product transport element to anexternal signal receiver. Such signal transmitters can transmit signalsusing any suitable technology including optical, electrical and magnetictechnologies. Examples of signal transmitters can include radio signaltransmitters, infrared light transmitters, etc.

A “holder” in a laboratory product transport element may includestructures suitable for securely holding a sample container (e.g., atube) during transportation of the sample container. Exemplary holdersmay include structures such as housings that may be formed so that theyare cooperatively structured with one or more sample containers. In someembodiments, a holder may hold only one laboratory product (e.g., onlyone sample tube with a sample in it).

The laboratory product transport element can be actively andindependently moved on a transfer path with the energy taken from theenergy receiver or with the energy stored in the energy accumulator.Control then occurs via signals that are fed from the outside to thesignal receiver of the laboratory product transport element andconverted by the control unit of the laboratory product transportelement. In this way, it is possible that the laboratory producttransport element automatically travels to its destination, for example,a processing station or loading or unloading station, and independentlytakes an ideal route.

A transfer path arrangement that serves to transport such laboratoryproduct transport elements can have a smooth transfer path for movementof a laboratory product transport element or several laboratory producttransport elements.

In embodiments of the invention, if a laboratory product transportelement is defective, it can be removed from the transfer path andreplaced with a new one. A disturbance to the system can thereforealways be only locally active and eliminated within a few minutes. Byappropriate control or signals, a laboratory product transport elementcan also be made to independently deviate around a defective stoppedlaboratory product transport element, so that disturbances can becircumvented.

If different laboratory products are being transported, differentlaboratory product transport elements could be provided. The differentlaboratory products can include containers of different sizes,containers with different types of samples, etc.

The laboratory transport system according to an embodiment of theinvention is particularly suited for transport of sample tubes inin-vitro diagnostic laboratories, especially for the transport ofpatient fluid samples between different portions of an in vitrodiagnostic system. The laboratory transport system according to anembodiment of the invention, which comprises at least one transfer pathand self-driven, intelligent laboratory product transport elementsmoving on it, represents an inexpensive, highly flexible and extremelyspace-saving system.

Any suitable drive device can be used in embodiments of the invention.Wheels can be used as a movement device of the laboratory producttransport element. In some embodiments, a laboratory product transportelement can have two wheels arranged in parallel. A third wheel can beused to steer the laboratory product transport element, which, however,need not necessarily be driven.

In other embodiments, the laboratory product transport element can havemovement devices that are individually driven. It is possible to driveone of two parallel wheels more rapidly than the other, so that thelaboratory product transport element can move around a curve. By drivingtwo parallel wheels in opposite directions, the laboratory producttransport element can rotate around its own axis. This type of drivesystem, in which the movement device includes at least two individuallydriven parallel wheels, offers high flexibility. The laboratory producttransport element can precisely deliver its transport product to adesired processing station and put it into a desired position.

The laboratory product transport element may also comprise any suitabledrive device. For example, an electric motor can be used as a drivedevice for the wheels.

In one embodiment of the invention, an energy receiver of the laboratoryproduct transport element includes an induction coil, with which energycan be taken from an electromagnetic alternating field (e.g., ahigh-frequency field).

In one embodiment of the invention, a transfer path arrangement for alaboratory product transport element can include at least oneessentially smooth transfer path for movement of a laboratory producttransport element or several laboratory product transport elements onit. It may also include at least one electrical conductor configured togenerate an electromagnetic alternating field, integrated in or adjacentto at least one transfer path, so that an electromagnetic fieldgenerated with the electrical conductor induces an alternating voltagein the induction coil of a laboratory product transport element situatedon the transfer path. The transfer path arrangement may further includean alternating voltage source for coupling of an alternating voltageinto the at least one electrical conductor.

This type of transfer path arrangement has at least one electricalconductor, with which an electromagnetic alternating field can begenerated, and which is integrated in the transfer path or adjacent tothe transfer path. An electromagnetic field generated with theelectrical conductor is induced in the energy receiver of a laboratoryproduct transport element situated on the transfer path with alternatingvoltage. In addition, the transfer path arrangement can have an ACsource (e.g., a high frequency voltage source), for coupling of an ACsignal into the at least one electrical conductor. The high frequencyfield generated with the at least one electrical conductor of thetransfer path arrangement serves as a power supply for the laboratoryproduct transport element, which takes energy from the electromagneticalternating field by means of the energy receiver via magneticinduction, in order to drive the drive device.

For a system in which the power supply of the laboratory producttransport element is derived from an electromagnetic alternating field,electrical conductors can be provided on or in the transfer path alongparticularly probable paths of the laboratory product transportelements. However, since the laboratory product transport elements moveindependently, they are not bound to the geometry stipulated by theconductors, as long as the electromagnetic alternating field generatorwith the conductors at the location of the corresponding laboratoryproduct transport element is sufficiently large for corresponding energytransfer, or the laboratory product transport element has an additionalenergy accumulator to bridge the areas with an unduly low power supply.

Another embodiment of the laboratory product transport element has atleast one photosensitive element as an energy receiver. Throughappropriate light units on a transfer path arrangement, power to drivethe drive device can be supplied to the laboratory product transportelement via the at least one photosensitive element. In someembodiments, the laboratory product transport element has one or morephotosensitive elements on the bottom, which can receive power from alight path, which is situated in a surface of a transfer patharrangement according to an embodiment of the invention. The light pathcan be formed by correspondingly arranged light-emitting diodes.

In a laboratory product transport element embodiment that receives itspower from light, light paths can be provided along particularlyprobable paths that the laboratory product transport elements mighttake. However, since the laboratory product transport elements moveindependently, they are not bound to the geometry stipulated by thelight paths, as long as sufficient illumination of the photosensitiveelements is present or the laboratory product transport element has anenergy accumulator to bridge the areas with unduly low illumination.

To bridge the areas with low external power supply, the laboratoryproduct transport element according to an embodiment of the inventionhas an energy accumulator that serves to provide drive power, if theenergy supplied from the outside is not sufficient. This can happen, forexample, if, in an embodiment in which the energy is supplied viamagnetic induction, the laboratory product transport element is notsituated close enough to an electrical conductor of the transfer patharrangement. The electrical conductor may provide the electromagneticalternating field that furnishes the energy needed to drive thelaboratory product transport element. The energy accumulator can also becharged by using power absorbed with an energy receiver.

The laboratory product transport element embodiment that has anadditional energy accumulator is advantageous, because the laboratoryproduct transport element has greater independence from the externalpower supply. Branches, curves or avoidance maneuvers are easier toachieve with the laboratory product transport element.

A charging process can be provided in an embodiment in which the powerfeed occurs through magnetic induction, such as along straight pieces ofthe electrical conductor, which are arranged to generate theelectromagnetic alternating field on the transfer path arrangement. Inan exemplary arrangement in which the power supply occurs viaillumination of photosensitive elements of the laboratory producttransport elements by means of a light path in the transfer patharrangement, the charging process can also be conducted in the areasthat have a straight light path.

Another embodiment of a laboratory product transport element takesenergy to drive the drive device exclusively from energy stored in anenergy accumulator. This embodiment provides even greater independenceto the individual laboratory product transport element. The energyaccumulator can be charged at a charging station on the transfer patharrangement, at which a processing station can also be situated. Thedescribed energy accumulators, which are either provided in addition toan energy receiver, or exclusively, in order to furnish the drive power,can include a battery or fuel cell.

In embodiments of the invention, signals can be fed to the laboratoryproduct transport element via the at least one signal receiver. This canbe, for example, a light receiver (e.g., an infrared light receiver) ora radio signal receiver. In this case, the transfer path arrangement caninclude a corresponding signal transmitter to transmit signals to thesignal receiver of the laboratory product transport element. The signaltransmitter, for example, can be a light transmitter (e.g., an infraredlight transmitter) or a radio signal transmitter.

The laboratory product transport element can also comprise at least onesignal receiver (e.g., a coil). In this embodiment, signals can be fedby means of electromagnetic induction. The coil provided for signalreceiving in such an embodiment can also be formed by a coil that servesfor energy pickup from an electromagnetic alternating field. In thiscase, the signal being transmitted can be a frequency-modulated oramplitude-modulated signal, so that it can be distinguished from thealternating field for power supply.

The laboratory product transport element can have any suitable shape. Itis desirable if the laboratory product transport element has no sharpcorners or edges in its horizontal cross section, so that it is alsoeasy to control along lateral limitations and so that collisions occuras free of vibration as possible. In some embodiments, the laboratoryproduct transport element can have a round horizontal cross section.

To hold the laboratory product being transported, each laboratoryproduct transport element can have at least one holder. Whentransporting sample tubes, a laboratory product transport element canhave a cylindrical recess that is open on the top. The recess may havedimensions that are adapted to the sample tubes being transported. Insome cases, a stationary gripper system can easily insert or remove asample tube into the recess. If the recess is provided roughly in thecenter of the laboratory product transport element, the sample tube isalso optimally secured. Different dimensions of such recesses indifferent laboratory product transport elements permit transport andhandling of different sample tubes. Adjustment of the system to adifferent sample tube dimension is possible by replacing thecorresponding laboratory product transport elements.

Another embodiment of the invention relates to a universal laboratoryproduct transport element, which is suitable for holding differentlydimensioned sample tubes or laboratory products. This can be achieved byproviding a variable recess in the laboratory product transport element.The recess may be open at the top. The shaped edge of the recess that isopen on the top can be made of a flexible material (e.g., foam).

In principle, a laboratory product transport element can have severalholders for several different or equivalent laboratory products (e.g.,sample tubes with samples). In this way, the laboratory producttransport element has greater transport capacity. If, on the other hand,a laboratory product transport element has precisely one holder, thenindividual transport planning can be used. A laboratory producttransport element with only one holder is smaller than a laboratoryproduct transport element with multiple holders.

One laboratory product transport element embodiment that has at leastone recess can have a lateral opening such as a side slit. Through thisopening, a corresponding optical device or user can easily recognizewhether a sample tube is inserted in the corresponding laboratoryproduct transport element. The optical device can also determine howfull a tube inside of the recess is. Further, optical investigations ofthe sample material can also be easily conducted through the opening.Finally, it is possible, through such an opening or slit, to recognize amarking on the lower part of the sample tube being transported and toidentify it.

In other embodiments of the invention, laboratory transport systems mayimplement an optical line following or guiding wire to navigate and movethe laboratory product transport elements. Optical line followingprovides a continuous, uninterrupted line to be read by an opticalsensor to determine the direction of movement. Similarly, a guiding wireprovides a physical wire for a laboratory product transport element tobe tethered to and follow.

In another laboratory transport system embodiment, the transfer path hasone or more orientation features, which can be detected by acorresponding sensor of a laboratory product transport element. Suchorientation features can be configured passively in the form ofbarcodes, two dimensional (2D) code, color marks, RFID (radio frequencyID) tags or reflective films. A laboratory product transport elementwith at least one corresponding sensor (e.g., a scanner) to detect suchpassive features can be oriented by these orientation features, in orderto implement an already received and/or programmed control signal at thecorrect time. It can also be established, by means of such orientationfeatures, precisely where a laboratory product transport element issituated. For this case, the laboratory product transport element canalso have a corresponding signal transmitter in the form of a lighttransmitter or radio signal transmitter in order to be able to transmitcorresponding information.

The orientation features may also be active in nature. Activeorientation features may include infrared or radial signal transmitters,which can communicate with corresponding sensors of the laboratoryproduct transport element, when it passes by.

A laboratory product transport element according to an embodiment of theinvention may also have a display unit to display information. Thedisplay unit allows the laboratory product transport element to provideinformation as to what it is currently transporting, the transportationpath it is currently taking, its status, functional capability, etc.Information provided by the display unit may be generated by thelaboratory product transport element during movement, pre-stored in thelaboratory product transport element prior to movement, or received fromexternal signals. In some embodiments, the transfer path arrangement ofthe laboratory transport system can have a recording unit to recordinformation displayed on the display unit.

The display unit of a laboratory product transport element can also showanother laboratory product transport element or characteristics thereof.For example, the display unit can show the status or path of an adjacentlaboratory product transport element. In this embodiment, the laboratoryproduct transport element can recognize if a laboratory producttransport element in front of it or next to it is defective and can takeappropriate action pass it or the like. For example, a processor in afirst laboratory product transport element can automatically determinethe distance to and the position of a second laboratory producttransport element in front of it, and can execute code in a memory tocause the first laboratory product transport element to avoid it.

The laboratory product transport element may also comprise at least onesignal receiver and/or transmitter, which can also be used fortransmitting and receiving data. Such data may include data relating tothe sample being transported, data relating to the movement of thelaboratory product transport element, data relating to the operationalstatus of the laboratory product transport element, etc. Any datareceived by the laboratory product transport element may be stored in amemory present in the recording unit of the laboratory product transportelement.

Variants of the laboratory product transport element, having a displayunit to display information and a corresponding recording unit to recordinformation or corresponding signal receivers and/or transmitters,advantageously allow individual laboratory product transport elements tocommunicate with each other. This communication can occur directlybetween various laboratory product transport elements withoutcommunication with a station of the laboratory transport system. Thiscan advantageously reduce the number of communication channels in thesystem.

The laboratory product transport elements according to embodiments ofthe invention can also communicate with processing stations on atransfer path arrangement of a laboratory transport system. This can bedone to provide information about the laboratory product transportelement and/or the sample it is transporting to a correspondingprocessing station. This information can be used to process thetransported laboratory product or can be used provide information aboutthe status of the transported laboratory product.

The laboratory product transport element can also have a permanent datamemory, protected from power failure, for data storage, as well as acontrol unit. The control unit can generate drive signals in real timefor the drive device. It can receive control signals from the signalreceiver in the laboratory product transport element. It is thereforepossible to directly control the movement of the laboratory producttransport element using external control signals.

The laboratory product transport element may also have a program memory,which can store a sequence of drive signals as computer code. Thesequence of drive signals can define a path (e.g., a geometric path)and/or motion (e.g., speed or acceleration) for the laboratory producttransport element. The stored drive signals can be programmed into theprogram memory before actual transport, and these drive signals can beautomatically run by the programmed laboratory product transportelement. In some cases, the drive signals can be executed afterinteraction with orientation features on the transfer path, or theirexecution may be independent of the drive signals. In such embodiments,the signal receiver of the laboratory product transport element can havea wireless programming interface to provide users with the ability toeasily program the movements or paths of the laboratory producttransport element.

At the beginning of a transport process, a control signal can beprovided to the laboratory product transport element via the signalreceiver, which corresponds to the objective being controlled. From thegeometry of the transfer paths stored in the memory, the control unitthen determines the path to be taken, which is automatically traveled bythe laboratory product transport element by means of orientationfeatures on the transfer path. This embodiment is therefore capable ofindependent navigation.

A laboratory product transport element according to an embodiment of theinvention can also have one or more Peltier elements for cooling orheating. It can also have heat elements (e.g., designed as resistancewires), so that the transported laboratory product can be kept at adefined temperature or can be temperature-controlled during transport toperform a reaction. In some embodiments, the power supply fortemperature control capability can be accomplished via the same powersupply system as power supply for providing the drive power of thelaboratory product transport element.

The laboratory product transport element according to an embodiment ofthe invention can also have a position detector, which makes it possibleduring transport to follow the position. In some embodiments, this canbe a position detector that determines a location from a traveled path.For example, position detection device like those used in computer micecan be used in some embodiments of the invention.

In some embodiments, orientation features or barcodes can be provided ona transfer path arrangement for position determination. For example, byusing a position detector, which determines the location from thecovered path, the position of the laboratory product transport elementcan be determined after recording of a corresponding orientationfeature, until another orientation feature is reached.

Finally, a laboratory product transport element according to anembodiment of the invention can also have a device for positiondetermination that determines the position from direction finding. Thedirection finding device can use radio direction finding, in which radiosignals are evaluated. The radio signals can be generated by radiosignal transmitters on the transfer path arrangement.

A laboratory transport system according to an embodiment of theinvention can also include at least one transfer path arrangement and atleast one laboratory product transport element for movement on the atleast one transfer path of the transfer path arrangement. Laboratoryproducts can be transported in the at least one laboratory producttransport element. The laboratory transport system is suited fortransport of sample containers, such as liquid samples.

The transfer path arrangement of a laboratory transport system accordingto an embodiment of the invention advantageously includes transfer pathsbetween individual processing stations. At the processing stations, thesample containers or the samples contained in them can be treated and/orinvestigated.

The laboratory transport system can advantageously include at least oneprocessing station, which includes a loading station or an unloadingstation to load or unload the laboratory product transport elements. Atsuch stations, sample containers can be inserted into or removed fromthe laboratory product transport elements.

The laboratory transport system can be suited for devices, in whichlaboratory products are investigated. In the case of sample containersto be transported, one laboratory transport system according to anembodiment of the invention has at least one processing station forinvestigation of a sample contained in a sample container. Theinvestigation of the sample can be a physical, chemical or biologicalexamination of the sample.

In a first method according to an embodiment of the invention foroperation of a laboratory transport system, an objective can be provided(e.g., programmed into a memory) to a laboratory product transportelement. The control unit of the laboratory product transport elementgenerates drive signals for the drive device by using a transfer pathgeometry stored in a memory of the laboratory product transport elementand the entered objective. The drive devices drive the movement devicesof the laboratory product transport element as a function of the drivesignal so generated, in order to move the laboratory product transportelement to the objective. In this embodiment, the laboratory producttransport element can automatically navigate to the stipulated objectiveby means of the stored transfer path geometry.

In another method according an embodiment of the invention for operationof a laboratory transport system, a sequence of drive signals is storedin a memory of a laboratory product transport element. The drive signalscan be used to move the laboratory product transport element by means ofthe movement devices and as a function of the stored drive signals. Thedrive signals can correspond to a desired path on a transfer path.

In another method according to an embodiment of the invention foroperation of a laboratory transport system, the laboratory producttransport element can be controlled in real time. It can be controlledby orientation features on the transfer path arrangement. The methodaccording to an embodiment of the invention permits independent andintelligent movement of laboratory product transport elements.

Part of a transfer path arrangement of a laboratory transport systemaccording to an embodiment of the invention is shown in FIG. 1A. Atransfer path 10, in particular, with side limitation 12 and a flathorizontal web 13 are visible. In this example, the side limitation 12can be in the form of a raised wall that can at least partially definethe transfer path 10. In this embodiment, there are two raised walls onopposite lateral sides of the flat horizontal web 13, and the walls andthe web 13 can define the transfer path 10. Such walls may be of anysuitable height depending upon the height of the laboratory producttransport element and the sample being carried therein, typically aheight of no greater than about 20 mm. Further, the web 13 can be of anysuitable lateral dimensions.

Transfer paths according to embodiments of the invention can also haveone or more branches that may lead to other areas. For example, thetransfer path 10 in FIG. 1 can have a lateral branch 16 that leads to aseparation processing station, buffer station, or some other station.

The laboratory transport system can use any suitable numbers or types ofdevices, which can help guide or move the laboratory product transportelements. As shown in FIG. 1A, electrical conductors 14 (or inductionconductors) can be arranged beneath the transfer path 10. The electricalconductors 14 can be electrically coupled to a high frequency voltagesource (not shown), so that they can be supplied with high frequencyvoltage, in order to generate a high frequency electromagneticalternating field.

Several laboratory product transport elements 30 that transport samplecontainers 50 (e.g., sample tubes) can move on the transfer path 10. Thelaboratory product transport elements 30 are described in further belowwith reference to FIGS. 1B to 1F.

Referring to FIG. 1A, however, the laboratory product transport elements30 can be transferred to a processing track 18 in defined fashion in arow, in order to be able to carry out, for example, opticalinvestigations of the sample material contained in the sample containers50.

Electrical conductors 14 can be provided along the particularly probablepaths of the laboratory product transport elements 30. However, sincethe laboratory product transport elements 30 can move independently,they are not bound to the geometry stipulated by the conductors 14.Their movement is not dependent upon the conductors 14, as long as theelectromagnetic high frequency field generated with conductors 14 at thelocation of the laboratory product transport element 30 is sufficientfor corresponding energy transmission or the laboratory producttransport element 30 has an energy accumulator 44 (see below, FIG. 1E)for bridging.

The sample containers 50 may have any suitable shape or configuration.In some embodiments, the sample containers 50 may be in the form oftubes. In some cases, covers 52 may be on the sample containers, whileother sample containers do not have a cover on them and are transportedopen.

FIG. 1B shows a side perspective view of a laboratory product transportelement 30 according to an embodiment of the invention. The laboratoryproduct transport element 30 comprises a laboratory product transportelement housing 31, which may have a cylindrical recess 33 formed at thetop of the housing 31, which may also be cylindrical. A sample container50 with a cover 52 on it may be received in the cylindrical recess 33. Aslit 31 may be formed in the side of the housing 31. The slit 31 canpermit optical investigation of the sample material contained in thesample container 50, and may be coextensive with the recess 33. In otherembodiments, the slit 31 need not be coextensive with the recess 33 andmay be formed independent of the recess 33. Furthermore, in otherembodiments, the slit 31 can be an aperture that is in some other form(e.g., a circle).

In this example, the laboratory product transport element 30 has a roundhorizontal cross section and has a rubber strip 34, which serves as animpact protection against the side limitations 12 of the transfer path10 or other laboratory product transport elements 30.

FIG. 1C shows a side section of the laboratory product transport element30 in the viewing direction III shown in FIG. 1B. Reference numbers 36denote electric motors (or drive motors) that drive rubber wheels orrubber-tired wheels 38. Two opposite wheels 38 are provided, which aredriven individually by one electric motor 36 each. The wheels 38 may beexamples of movement devices.

A shoulder 35 is shown in FIG. 3, which can cooperate, for example, intransfer path channels configure more narrowly with optionally presentside protrusions of side limitations 12 of transfer path 10, in order tohold the laboratory product transport element 30 down, when the samplecontainer 50 is to be pulled out upward from recess 33. The use ofshoulder 35 illustrated in FIG. 1C can be described in further detail inthe section “Fine Positioning and Lift-Off.” In some embodiments, thelaboratory product transport element 30 can have an anchor-like element.The anchor-like element engages in a corresponding mating piece of thetransfer path upon entering a processing station, in order to secure thelaboratory product transport element 30 during its stay at theprocessing station.

The laboratory product transport element 30 may also comprise distancesensors 37. In FIG. 3, the distance sensors 37 may include four distancesensors which are arranged behind the rubber strip 34 at angles relativeto each other. One preferred embodiment is to have all of the sensorsfacing forward and at an angular relationship to each other of between10° and 30°, a more preferred embodiment of 20°.

FIG. 1D shows a bottom perspective view of the laboratory producttransport element 30 according to an embodiment of the invention. Theinduction coil 40 serves to receive electromagnetic energy from the highfrequency fields, which can be generated from electrical conductors 14beneath the transfer path.

In some embodiments, it is possible that one or more support wheels areprovided, in addition to the driven rubber wheels 38, so that thelaboratory product transport element 30 rolls on several wheels.However, in other embodiments, no additional wheels are provided, sothat the laboratory product transport element, during movement, can liedragging on one side. This can facilitate curved travel or rotationaround its own axis.

In another embodiment of the invention (not shown), the laboratoryproduct transport element 30 is supported on a ball rotatable in alldirections, which is arranged offset to the two driven wheels 38, inorder to avoid dragging on the transfer path. Such a ball can also beused for position detection, as in a computer mouse.

In the embodiment shown in FIG. 4, reference number 42 denotes aposition detector that determines movement of the laboratory producttransport element 30, as in a computer mouse that uses laser light. Thetraveled surface is then illuminated by an incorporated light source andthe reflections taken up with an optical sensor, in order to determinemovement of the laboratory product transport element 30 from them withcorresponding image processing algorithms. The position detector 42 caninclude a CCD camera and corresponding software, a laser as in a lasermouse, or a ball and sensor as in a ball-type mouse.

FIG. 1D shows the laboratory product transport element 30 withoutexternal side protection. That is, a housing can be removed to show theinternal elements of the laboratory product transport element 30. Asshown in FIG. 5, the laboratory product transport element 30 may includeenergy accumulators 44 (e.g. batteries). The energy accumulators 44 canserve to store energy in order to drive of the laboratory producttransport element 30, when the energy generated by the high frequencyfield of electrical conductors 14, shown in FIG. 1, and transferred tothe induction coil 40, as seen in FIG. 4, might be disabled or toolimited to drive the laboratory product transport element 30. This mightbe the case, for example, in curves or passing zones.

The laboratory product transport element 30 also comprises a controlunit (not shown), for example, a corresponding microprocessor thatreceives signals from signal receivers (also not shown). The signalreceivers may include infrared light receivers that cooperate withexternal infrared light transmitters, in order to receive the controlsignals. Other examples of signal receives may include radio sensors.

Control signals, however, can also be received via the induction coil40, as seen in FIG. 4, when corresponding signals are supplied to theelectrical conductors 14, as seen in FIG. 1. Such control signals can bediscriminated from the high frequency field that furnishes energy by acorresponding frequency or amplitude modulation.

The laboratory product transport elements 30 also may optionally havesignal transmitters (not shown) in order to produce information andsignals. This permits, for example, precise localization of individualselected laboratory product transport elements 30. The signaltransmitters may transmit signals using any suitable frequency and anysuitable communications protocol.

The laboratory product transport elements 30 can also have a number ofsensors, with which position recognition and fine positioning atprocessing stations, recognition of the travel path limitation or otherlaboratory product transport elements, or information exchange ispossible. For example, clearly identifiable barcodes can be provided onthe transfer path 10 shown in FIG. 1, either on the a side limitation 12or a flat horizontal web 13. The barcodes can be scanned by a laboratoryproduct transport element 30 with one or more sensors configured asscanners, in order to recognize the precise position of a branch or theprecise position of a processing station. An example is shown in FIG. 1Fby means of a cutout of a transfer path 10. A barcode 60 is situated ata branch 16, which can be recognized and identified by correspondingscanners of a laboratory product transport element. In this way, thelaboratory product transport element obtains information concerning itsposition. A number of such codes could be provided on the transfer path10, which clearly identify the branches, processing tracks, processingstations or the like.

Other possibilities of such orientation features include 2D codes, colormarks, reflection films, transponder systems or infrared lighttransmitters. Suitable sensors capable of sensing such orientationfeatures can be incorporated into the laboratory product transportelements.

The laboratory product transport element 30 can have a display unit. Itcan display information as to which path the laboratory producttransport element is to take, which laboratory product is beingtransported, or whether a defect is present. Further, laboratory producttransport elements 30, with signal transmitters and receivers, or withdisplay and recording units, can also exchange information with eachother either directly via internal communication transmitters, or via acentral processor.

In the interior of the laboratory product transport element 30, apermanent data memory, protected from current failure, can be provided,in which data about the transported laboratory product or data about thepath being traveled can be entered.

The diameter of the laboratory product transport element 30 depicted inthe FIGS. 1A-1E is about 6 cm at a height of about 5.5 cm. The wheels 38protrude about 1 mm downward from the laboratory product transportelement 30. The laboratory product transport elements and featuresthereof may have other suitable dimensions in other embodiments of theinvention.

The laboratory product transport element 30 according to an embodimentof the invention can also have a heating device (not shown). The heatingdevice can keep a sample at a defined temperature during transport orcan carry out a defined temperature treatment of the transported sampleduring the transport. Such a heating device can include, for example,resistance wires which are provided in an appropriate arrangement.

A laboratory transport system according to an embodiment of theinvention of the depicted variant can be used, for example, as follows:

Sample containers 50 are inserted into laboratory product transportelements 30 at a loading station by using a stationary gripper system orother container transport system. A target is stipulated to thelaboratory product transport element 30 via its signal receiver. Thegeometry of the actual transfer path 10 can be encoded and entered in amemory of the laboratory product transport element 30. The control unitof the laboratory product transport element 30 can identify thestipulated objective by using data about the transfer path geometryentered in the memory and can independently establish an ideal path tothis objective. The locations of orientation features, for example,barcode 60, are also entered in the memory, so that the laboratoryproduct transport element 30 can orient itself during its travel along apath, and to check its current position or correct it, if necessary.

After a start signal is induced in the laboratory product transportelement 30, the laboratory product transport element 30 is moved on thepre-defined path established in its memory. If it passes by a barcode60, at which a direction change is to be made, the barcode 60 recordedwith the scanner is used as a signal by the control unit, in order tomake a direction change in the desired direction.

If the laboratory product transport element 30, for example, reaches alocation, at which a direction change is prescribed, one of the drivemotors 36 is stopped or slowed, so that the corresponding wheel 38 stopsor rotates more slowly. In this way, the laboratory product transportelement 30 travels along a curve.

If the laboratory product transport element 30 reaches its destination(e.g., an unloading station) at which a correspondingly programmedlaboratory robot is supposed to remove the transported sample container50 from the laboratory product transport element 30, the motors 36 arestopped. In order to prevent the laboratory product transport element 30from being lifted off of the transfer path 10 when the sample container50 is removed from the recess 33 of the laboratory product transportelement 30, the side (i.e. lateral) limitations 12 of the transfer path10 may have inward-facing protrusions that cooperate with the shoulder35 on the laboratory product transport element 30. The lateralinward-facing protrusions can prevent the laboratory product transportelement 30 from being lifted upward if there is friction between thesample container 50 and the recess 33 of the laboratory producttransport element 30.

In some embodiments, the laboratory product transport element 30 bringsthe sample container 50 to a processing or investigation station, inorder to conduct a physical, chemical or biological investigation on thesample. In the case of an optical investigation, the laboratory producttransport element 30 reaches a light source on the side with samplecontainer 50. A light source can illuminate the lower area of the samplecontainer 50 through the slit 32 and emitted light from the sample canbe detected by a detector arranged opposite it. The detector orelectronics associated with the detector can determine the absorption orfluorescence characteristics of the sample. In order for slit 32 to lieprecisely opposite the correspondingly arranged light source, thelaboratory product transport element can be aligned accordingly. Thiscan be achieved by driving the rubber wheels 38 to rotate in oppositedirections. Consequently, the laboratory product transport element 30rotates around its own axis, until the slit is arranged opposite thecorresponding light source for investigation. The slit can also be usedto establish the filling level in the sample container 50 or to read outa barcode optionally provided in the lower area of the sample container50 (e.g. sample tube), which contains information about the transportedproduct.

The laboratory product transport element 30 can also bring the samplecontainer 50 to one or more processing station. Suitable processingstations include an aliquoting station, a station for closing or openingof the sample containers 50, and stations for conducting opticalinvestigations or the like. It should be noted that the laboratorytransport system may contain active transport systems which interactwith the laboratory product transport element 30 by, for example, themovement of a sample container from the laboratory product transportelement 30 onto an active transport system (e.g., a conveyor belt) usinga gripper device (not shown).

Alternatively or additionally, it is also possible to configurelaboratory product transport elements 30 so that they can be controlledby external controls. For this purpose, a control unit can be used, andconfigured to convert control signals in real time to drive signals usedby the electric motors 36. In this way, it is possible to intervene inthe automated laboratory process from the outside and to divert or sortout laboratory product transport elements 30.

It is also possible to fully stipulate the path of the laboratoryproduct transport element 30, for example, by a wireless programinterface. The corresponding program can be entered in the data memoryof the laboratory product transport element 30. The program data caninclude information as to at which orientation features (e.g., barcode60) provided on the side limitation 12 of the transfer path 10 thelaboratory product transport element 30 is supposed use to change itsdirection. In this way, the complete path of the laboratory producttransport element 30, with the corresponding sample containers 50, isestablished and programmed into the laboratory product transport element30.

If a laboratory product transport element 30 is defective or becomeinoperable, it can be removed by a user from the transfer path 10 andcan optionally be replaced with a new laboratory product transportelement 30. If this occurs, the disruption to the system isadvantageously short and localized. Further, even if intervention is notpossible, the system is not blocked. The other laboratory producttransport elements 30 can move around the inoperable laboratory producttransport element 30. The other laboratory product transport elements 30can be prompted by corresponding control signals from a centralprocessor, or via programming of the individual laboratory producttransport elements 30 to communicate with other such elements 30. Forexample, the laboratory product transport elements 30 may havecorresponding sensors which can detect the presence of a defective orstationary laboratory product transport element 30 and via programmingof the internal control processor move around it.

When they are on the transport path, the individual laboratory producttransport elements 30 can also communicate with each other via opticalsignal transmitters and receivers. This communication can occur directlyand need not be conducted via a centrally provided communication site ofthe laboratory transport system. In this way, a laboratory producttransport element with a particularly sensitive sample can inform otherlaboratory product transport elements that it has priority.

The energy needed to move the laboratory product transport element 30can be obtained from the electromagnetic field via induction coil 40,which is generated by a high frequency voltage applied to the electricalconductors 14. The laboratory product transport element 30 need notprecisely follow the electrical conductors 14. The interaction onlyneeds to be of sufficient duration so that sufficient energy can bepicked up from the electromagnetic field in order to drive the drivemotors 36, which drive wheels 38. When this is not possible, thelaboratory product transport element 30 can have energy accumulators 44,which supply power to drive motors 36 at such locations of the transferpath 10, in which the electromagnetic field of the electrical conductors14 is not sufficient. On straight zones, in which the laboratory producttransport element 30 can move close to the electrical conductors 14, onthe other hand, excess energy from the electromagnetic field can beutilized in order to charge the energy accumulators 44.

Other embodiments of the invention can have photosensitive elements atthe bottom of the laboratory product transport element 30. Thephotosensitive elements can be illuminated by light bands arranged onthe transfer path 10. The photosensitive elements can be used to furnishelectrical drive power.

It is also possible that the laboratory product transport elements 30 toobtain their drive power completely from energy accumulators 44. Theenergy accumulators 44 can be charged at corresponding chargingstations, which can be at processing stations.

Predefined Movement Profiles

Some embodiments may include methods, systems, and/or devices forcontrolling the movement of a laboratory product transport element basedon predefined movement profiles. These embodiments include methods for alaboratory product transport element to perform movements that candiffer from its primary route. These embodiments of the invention canovercome the inflexibility that can come with laboratory producttransport elements that can only follow a line on a transport path.

Some embodiments that involve predefined movement profiles may utilizelaboratory product transport elements, as shown in FIGS. 2A-2G, such aslaboratory product transport elements 30 and/or 730, that may utilize aline following technology such as line following sensors. Embodimentscan include the usage of predefined motions, which may be stored in thememory of a laboratory product transport element, that temporarily donot use a line as a guide and/or use the line to fine-adjust movements.An encoder in the laboratory product transport element can providesignals from a drive device to provide feedback for a motion controller.

Embodiments may include predefined movement profiles that providedifferent functions. For example, a predefined movement profile canallow a laboratory product transport element to leave a lane or linetemporarily and follow different possible paths or movements. Apredefined movement profile may include information based on one or morespeeds, accelerations, distances, and/or directions. In some cases, apredefined movement profile may allow a laboratory product transportelement to switch between parallel lines without the need of a physicallane and without stopping and/or interrupting the movement. In anotherexample, a predefined movement profile may allow a laboratory producttransport element to perform a queue jumping action, such as entering awaiting queue not at the end of the queue but rather close to afunctional spot. This may be especially applicable for STAT (shortturnaround time) samples. A predefined movement profile may also beutilized to build queues sorted by priority not necessarily by time ofarrival as many other first in first out (FIFO) queues do.

In some cases, a predefined movement profile may be utilized to allow alaboratory product transport element to pass by a broken laboratoryproduct transport element or overtake a slower moving laboratory producttransport element. FIGS. 2A-2G provide such an example. In FIG. 2A, afirst laboratory product transport element 730 may be following line1310 and utilizing collision sensor(s) 737. A second laboratory producttransport element 1330 may be in front of the first laboratory producttransport element 730. In FIG. 2B, the first laboratory producttransport element 730 detects second laboratory product transportelement 1330 with collision sensor(s) 737. It may also determine thatsecond laboratory product transport element 1330 is not moving, and maybe broken, or may be going at a slower speed than the first laboratoryproduct transport element 730. Using a predefined movement profile, thefirst laboratory product transport element 730 may leave line 1310 andfollow instructions provided by the predefined movement profile. Thepredefined movement profiles may include semi-circles, arcs, and othershapes.

FIGS. 2C-2F show first laboratory product transport element 730 as itmoves around the second laboratory product transport element 1330 usinga predefined movement profile in the form of an arc. Once the firstlaboratory product transport element 730 returns to line 1310, as shownin FIG. 2G, it may continue to follow line 1310 utilizing its linefollowing sensor(s) along with its collision sensor(s) 737. Predefinedmovement profiles can be performed without a lane or line, but it mightbe a beneficial to use the lane or line as a fine adjustment (combiningpredefined movement control with line following) for smooth movements.

In some embodiments, a predefined movement profile may be utilized whena laboratory product transport element determines that there is a bend,such as 90° degree bend, on its path. Near-field communicationtechnology and/or RFID tags may be utilized to let the laboratoryproduct transport element know that a bend exists on its path. FIG. 3shows an example of utilizing a predefined movement profile fornavigating a bend. Typically, if a laboratory product transport element730 is not aware of moving through a bend 1440, it may try to move alongstraight segments. The line following sensors 742 can detect a differentreflection and the laboratory product transport element 730 performs acorrective rotation movement. This is shown with path 1430. Thissequence is reiterated until the next straight segment is arrived. Witha higher polling rate, the more corrective actions can occur and thesmoother the movement.

In some embodiments, a predefined movement profile can instead beutilized to create a smooth turning action for the laboratory producttransport element 730. One example of a path that may result is shownfor path 1435. A predefined movement profile may direct this movementfor the laboratory product transport element 730 through providinginstructions to accelerate an outer wheel to a certain velocity whiledecelerating an inner wheel. Knowing the bend radius and the wheeldiameter, the laboratory product transport element 730 can perform abend without line following using the motor encoder signals. In somecases, to compensate for slip effects or small wheel diameterdifferences, the line following sensors 742 can be used to adjust thepredefined movements. In cases where the laboratory product transportelement 730 follows a predefined (stored) trajectory, the line followingsensors 742 can be used for fine adjustment of the movement with thesame polling frequency as on straight tracks. When leaving or merging astraight lane, an increase of the moving speed may help to minimize theimpact on throughput.

Predefined movement profiles may be utilized for other reasons. Apredefined movement profile may be utilized for a laboratory producttransport element to perform a U-turn. This may involve switchingbetween lanes or lines with opposite moving directions. Sophisticatedtrajectories, such as spline-shaped trajectories, may be defined bypredefined movement profiles. For example, a predefined movement profilemay be utilized for high-speed ramp to and/or from high velocity lanesor sections. Predefined movement profiles may also be utilized toprovide movement directions for a laboratory product transport elementto enter or exit a specific portion of a transportation system, such asenter and leave a parking lot, a small one-position dead-end-streetsthat may require the laboratory product transport element to perform a180° degree movement before leaving.

Predefined movement profiles may also be utilized along with collisionsensors. For example, collision sensors can stay active during amovement of a laboratory product transport element based on a predefinedmovement profile in order to react to unexpected obstacles. A predefinedmovement profile can also direct a laboratory product transport elementback on to a line to compensate for impreciseness that may come fromcontrolling the movement with only the motor encoders.

Self-Diagnosis

Some embodiments may include methods, devices, and/or system configuredfor self-diagnosis. For example, a laboratory product transport element,such as laboratory product transport elements 30 and/or 730, may utilizeone or more of its sensors or other components to perform aself-diagnosis of different aspects of the laboratory product transportelement itself. In some cases, the laboratory product transport elementmay also be utilized to determine problems with a system, such as atransfer path arrangement, in which the laboratory product transportelement may be operated, or a laboratory product such as a sample tube.

A system such as a transfer path arrangement or a sample transportsystem may need to have maximum reliability and uptime. Since failuresare not completely avoidable, some embodiments that provideself-diagnosis can help to inform a user or the system or elements ofthe system about likely problems or give advice regarding how toeliminate a potential source of a problem. Different embodiments providemethods, devices, and/or systems to detect errors before they may resultin a problem or process interruption. Embodiments may overcome problemswith some solutions that may be either too expensive, require additionalsensors, or may provide no diagnosis functions at all. Missing diagnosisfunctions can often lead to a system interruption as the inspectionmight be neglected especially in areas which are not easy to access.

Some embodiments may provide methods, devices, and/or systems that mayonly utilize sensors and/or other elements of a laboratory producttransport element or a system which may already be provided for themovement and the line following of the laboratory product transportelements. For example, a laboratory product transport element canperform a self-diagnosis by performing an initialization routine tocheck the function of the line following and/or the collision sensors ina defined area. In some cases, the laboratory may perform theself-diagnosis operation at one or more charging spots. A laboratoryproduct transport element may perform a 360° rotation where all of theline following sensors pass over white and black areas. In case one ormore of the sensors is defective or possibly heavily dirty sensor mayshow no signal change at all when moving from a black to white area orvice versa. This information may be sent to a user through differentcommunication devices of the system. In cases where one or more sensorsmay be partly dirty, a signal from a sensor may be reduced and/orprovide an unclear signal change. In some embodiments, if enough signalchange is left, a calibration of the sensors may be performed tocompensate for the contamination or other problem with the sensor. Insome cases, it may be possible to move the laboratory product transportelement to a user interface location where the user can access thelaboratory product transport element and clean and/or otherwise repairthe laboratory product transport element. In some cases, the laboratoryproduct transport element or the system may send a signal informing theuser about the position of the dirty or defective laboratory producttransport element. The signal may include information regarding the needfor one or more sensors to be cleaned or repaired.

Some embodiments may utilize sensors of the laboratory product transportelement to recognize unexpected gaps, stains, or other problems on thelane, surface, or other locations in the system such as a transfer patharrangement. Information may be reported, providing the location back toa central controller or user. In case multiple laboratory producttransport elements detect the same failure, a user may get informed tocontrol the announced section of the track. In case only one laboratoryproduct transport element can see the failure, a user can be informed tocontrol the specific laboratory product transport element.

FIGS. 4A-C provide an example of how line following sensors 742 oflaboratory product transport element 730 may be utilized to recognizeproblems with either the laboratory product transport element itself ora surface on which the laboratory product transport element may betraveling. FIG. 4A shows a bottom surface of a laboratory producttransport element 730 with multiple line following sensors 742.Laboratory product transport element 730 may recognize abnormal sensorsignals in different ways including the following. In FIG. 4B, linefollowing sensors 742-a, 742-b, and 742-c detect a normal signal statefrom left to right, reflected as 50%-0%-50% (in this example, the twoouter sensors 742-a and 742-b can have a 100% signal when added). FIG.4C shows an example where a temporary 20%-0%-50% ratio could be anindication for a stain 1550 on the left edge of the lane. Other ratiosmay reflect other problems with the surface of the laboratory producttransport elements. For example, if the ratio are different between theouter sensors 742-a and 742-c for a period of time, this may reflect aproblem with one of the line following sensors themselves.

Self-diagnosis of a laboratory product transport element may utilizeother aspects of the device, such as the drive devices and/or movementdevices of the laboratory product transport element. For example, acomparison of one or more drive device encoder signals and linefollowing sensor signals may discover wear on a movement device. Adifferent diameter of a movement device, such as a wheel, may usedifferent drive device speeds on known straight track segments. In casethe difference reaches a definable threshold, a user may be informed tochange the movement device. In some cases, the drive device may alterits speed to accommodate for the wear discovered on the movement device.

Similarly, a laboratory product transport element may travel along awell-known distance and count the drive device encoder steps. A wornmovement device may lead to a smaller outer diameter and therefore moreencoder steps per distance. In case the number of encoder steps exceedsa definable threshold, the user may again be informed of the wear andthe possible need to replace the movement device. In some cases, thedrive device may compensate for the wear of the movement device.

Some embodiments may measure or otherwise determine drive device currentor power usage to provide a stickiness measurement or other measures ofthe functionality of the laboratory product transport element or asurface of a transfer path arrangement. For example, spilled serumand/or blood can generate a kind of “sticky” surface increasing thenecessary drive device force to move the laboratory product transportelement. A measured change in the current or power consumption used topower the drive device may be utilized to determine such potentialproblems with one or more surfaces of a transfer path arrangement.

The self-diagnosis embodiments may provide real-time feedback oftransfer path or laboratory product transport element problems. As aresult, contamination or other problems may be reduced to a minimum.

Kidnapping Detection

Some embodiments may include methods, systems, and/or devices forkidnapping or unexpected removal detection of a laboratory product, suchas a sample container 50, and/or laboratory product transport element,such as laboratory product transport elements 30 and/or 730.Additionally, the unexpected removal or shaking of a centrifuged tubecan cause malfunction in later processing steps, thus kidnappingdetection may be able to prevent such malfunction. Some embodiments ofthe invention may reduce concordance failures or process problems in anautomated lab-environment caused by illegal user intervention and/orforeseeable misuse. Other embodiments of the invention may provide forconstantly controlling the presence of a laboratory product in alaboratory product transport element as well as the presence of thelaboratory product transport element on a transfer path arrangement.

Some embodiments that include kidnapping detection may provideadvantages over other laboratory transport systems that may merely checkthe presence of a laboratory product and/or read laboratory productbarcode at functional spots in the system, such as diversion, point inspace, load and unload positions. For example, when a laboratoryproduct's presence is checked by the system at certain places, atemporary removal of the laboratory product may not be detectable.Reading the barcode on every diversion and functional spot may solve theproblem, but can be expensive. In addition, some embodiments may provideadvantages over systems that may merely rely on the user not havingaccess to in-flow laboratory products.

Embodiments may include sensor systems and/or devices to control thelaboratory product presence in the laboratory product transport elementand/or the uninterrupted contact between the laboratory producttransport element and a transfer path arrangement. Since laboratoryproduct transport elements can have their own processors, each may becapable of detecting and/or storing information regarding differentsituations in its memory and communicate one or more error signals ormessages. These error signals may be transmitted using a variety ofdifferent channels including, but not limited to, wireless connectionssuch as near-field communication spots.

For cases where a laboratory product may be removed from a laboratoryproduct transport element, different methods, systems, and devices maybe utilized to detect such removal. In one embodiment, an optical sensormay be utilized. An optical sensor may be coupled with a laboratoryproduct holder for example, of laboratory product transport element.Such an optical sensor may include a light barrier in the laboratoryproduct holder in some cases. In another embodiment, a mechanical sensormay be utilized. For example, a mechanical sensor may become active whenthere is a laboratory product in the holder. When a laboratory productis removed, the mechanical sensor may deactivate, thereby sending asignal indicating that the laboratory product has been removed from theholder. In some cases, an RFID-tag or other indicator may be coupled tothe laboratory product. The laboratory product transport element may beconfigured to read the tag or indicator to determine its presence in theholder and can provide an error signal when it no longer identifies thatthe tag or indicator in the holder.

Some embodiments may be configured to determine laboratory producttransport element removal from a laboratory transport system, such asfrom a surface of a transfer path arrangement. In one example, linefollowing sensors, such as line following sensors 737, of the laboratoryproduct transport element may be utilized to detect the removal of thelaboratory product transport element. For example, if there is nodetected reflection on the sensors and/or the reflection pattern doesnot make sense for a pre-determined time (e.g., one second), then thismay indicate that the laboratory product transport element has beenremoved. In another example, a drive device measurement (e.g., a currentmeasurement) may be utilized. For example, if the actual drive devicecurrent is much lower than usually necessary to move the laboratoryproduct transport element, this may indicate that the laboratory producttransport element has been lifted up in that moment. In some cases, acentral controller may be utilized to detect removal of the laboratoryproduct transport element. For example, a central controller may verifyexpected laboratory product transport element sequence at nodes in thesystem. In case a laboratory product transport element does not appearwithin a certain (configurable) time, the system can recognize thelaboratory product transport element as removed. In some cases, a statusof a laboratory product transport element may be unclear even when itappears later in the laboratory product transport system. This can occurif a user puts a laboratory product transport element back on thetransfer path arrangement.

When a system indicates that laboratory product and/or laboratoryproduct transport element is removed, a status of the laboratory productor laboratory product transport element may be referred to as unclear.Planned processes for the laboratory product may be interrupted as aresult. In some cases, the laboratory product transport element and/orlaboratory product may be routed to an error workplace, a specialinspection spot, or other locations where the user may need to decidehow to continue with the laboratory product. In one example, where thereare no double barcodes, the laboratory product transport element mayalso move to a place where the laboratory barcode can be verified, andas such, a temporarily removed laboratory product can be processedfurther immediately.

In some embodiments, a laboratory product transport element may rememberthe location of the occurrence of its removal or the removal of itslaboratory product. The laboratory product transport element maytransfer that information to a central controller, which in some casesmay occur at near-field communication spot. This may allow for alaboratory product loss without user interaction (e.g., laboratoryproduct collapse) that can lead to a user notification after a viewseconds and prevent a wide distribution of possibly contaminatedmaterial.

Embodiments that may allow for the detection of a removed laboratoryproduct and/or laboratory product transport element may also be utilizedto verify successful processes. For example, the methods and devices fordetection of laboratory product removal may also be utilized in somecases to verify a successful laboratory product load, through a changefrom an empty state to a loaded state. Similarly, the successful removalof a laboratory product may be indicated with a change from loaded toempty. In some cases, embodiments may also be able to determine if alaboratory product has been successfully decapped. This may help avoidthe loss of a sample in case the complete laboratory product is removedinstead of the cap only. Some embodiments may be able to determineinformation regarding where a laboratory product transport element maybe reinserted into a system. In some cases when a laboratory producttransport element is removed from the system, it may be returned in arandom place in the system. Since the laboratory product transportelement may know its “unclear” status, the laboratory product transportelement can be routed to the appropriate place in the system. In somecases, this routing may be initiated when the laboratory producttransport element makes contact with a communication device in thesystem, such as a near-field communication spot.

Embodiments for the detection of the removal and/or replacement oflaboratory products and/or laboratory product transport elements canalso be used in a conventional laboratory transport system along with asystem such as the transfer path arrangement. In some cases, alaboratory product and/or laboratory product transport element may havesome identifier, such as an RFID tag, on which a controller within thelaboratory product transport element can write a status change.Information about a temporary removal of a laboratory product may bedetected at a next RFID spot. In some embodiments, power for the writingcan either be supplied by energy accumulator, such as a battery, in thelaboratory product transport element or by a piezo element, which canuse the movement of the elements of the laboratory product holder toproduce enough power for the controller to write the status change tothe RFID. Some embodiments may combine the one or more of the sensors ofthe laboratory product transport element with a power supply to storethe information independent from an external or battery created powersupply.

Fine Positioning and Lift-Off Prevention

Some embodiments provide methods, systems, and/or devices for finepositioning and/or lift-off prevention of a laboratory product transportelement, such as laboratory product transport elements 30 and/or 730. Insome situations, laboratory product transport elements within alaboratory transport system, such as a transfer path arrangement, mayneed to be positioned very precisely or at least with a highlyrepeatable accuracy at one or more positions within the system. Severalembodiments provide for performing the positioning with the requiredaccuracy to achieve fine positioning. In addition, there are situationsor locations within a system that may require lift-off prevention forthe laboratory product transport element. For example, a folded ordamaged label on a laboratory product might stick so tightly within asample holder of a laboratory product transport element that the weightof the laboratory product transport element may not be not sufficient toprovide for the laboratory product transport element to stay on asurface of the system when the laboratory product is removed.

Fine positioning and lift-off prevention methods and techniques may beutilized separately or in combination. In some cases, a laboratoryproduct transport element may include protrusions on one or more sidesof the laboratory product transport element to facilitate finepositioning and/or lift-off prevention. Slots or other elements may beprovided on different aspects of the laboratory transport system, suchas a transfer path arrangement, that may couple with the protrusions.For example, a laboratory product transport element may be moving alonga surface until it reaches a certain point and then performs a rotation.When the protrusions have made contact with the slots in the transferpath arrangement, the laboratory product transport element may forceitself to a defined position. Assuming the protrusions are shaped in asuitable manner, both the X and Y position can be reached at once. Ontop of that, the upper part of the transfer path arrangement's slots canprevent the laboratory product transport element from lift off in casethe laboratory product is removed at that spot.

In some cases, there may be a gap between side of laboratory producttransport element and a portion of a transfer path arrangement in orderto give the laboratory product transport element some space forcorrective movements while following a line. It may not be necessary ordesired to have physical contact there as it may produce unnecessaryfriction and abrasion. In some embodiments, in front of a functionalspot, portions of the transfer path arrangement can narrow down so thata laboratory product transport element can still pass through. As longas the line following is precise enough, there may not be contactbetween the laboratory product transport and the side portions of thetransfer path arrangement.

The actual positioning in the direction of transport can be realized byone or a combination of the following methods. In some embodiments,lift-off prevention may be performed in additional, but differentlocations, such as functional spots. However, fine positioning may beutilized for the laboratory product transport element may not requirelift-off prevention.

Fine positioning may be achieved using the line following sensors of alaboratory product transport element in some embodiments. For example, aposition indicator, such as window 1670, in a center line 1611 may beprovided as shown in FIGS. 5A and 5B. Laboratory product transportelement 730 may include multiple line following sensors 742, which maybe in line such as sensors 742-a and 742-b that can detect the rims ofthe window 1670. The fine positioning can be reached when both sensors742-a and 742-b deliver the same signal. This use of line followingssensors 742 and window 1670 may provide a system that is independentfrom the absolute reflectivity, which may decrease over the time. Insome cases, it may be desirable to use two sensors, such as 742-c and742-d, at the edges of the line for correct rotation alignment. In someembodiments, markers may be placed outside a line of the transfer patharrangement, providing markers for outer sensors, such as sensors 742-eand or 742-f. A laboratory product transport element may stop when oneor more outer sensors detect the markers on the surface of the transferpath arrangement. In another case, a unique pattern of markers may beprovided on a surface of the transfer path arrangement, such as1-0-1-0-1, providing an indication of the functional spot for the linesensors to detect and determine the location for fine positioning.

Near-field communication devices may be utilized for fine positioningfor some embodiments. A laboratory product transport element, such aslaboratory product transport element 730, may measure a field signalstrength or detect the start point of communication of a near-fieldcommunication device to determine the laboratory product transportelement's position. In some cases, positioning information providedthrough communication with a near-field communication device may providea rough positioning. This positioning may be coordinated in combinationwith the line following sensors, such as line following sensors 742, toprovide fine positioning in some cases. For example, near-fieldcommunication may initiate processes like slowing down the laboratoryproduct transport element and then starting to increase line followingsensor polling frequency for the fine positioning to be achieved.

One or more collision sensors, such as collision sensors 737, of thelaboratory product transport element may also be utilized for finepositioning in some cases. Collision sensors may be utilized to detect adefined obstacle to perform the fine positioning. For example, thelaboratory product transport elements can move into a dead-end streetslot and stop at a defined distance with respect to a wall or otherbarrier structure of the system. After the process, the laboratoryproduct transport element can move backwards to make the positionavailable for a next laboratory product transport element in some cases.

In some embodiments, an LED receiver in a laboratory product transportelement may receive positioning from an LED in the transfer patharrangement. For example, a LED (visual light or infrared (IR), forexample) may be placed at a functional spot in the bottom or in theborders of the transfer path arrangement. The laboratory producttransport element may include a light sensitive array that can measurethe light intensity on the array. When the maximum signal appears at thecenter field(s) of the array, the laboratory product transport elementmay be on the correct position. In some cases, the laboratory producttransport element can have the ability to move forth and back to findthe maximum. In a preferred embodiment, a laboratory product transportelement may be configured to reduce corrective movements to a minimum toreduce the amount of time required to achieve a fine position.

Fine positioning may also be achieved using one or more optical sensorson one or more sides of a laboratory product transport element in someembodiments. Optical sensors positioned on the side of a laboratoryproduct transport element may provide some advantages because of theeasy adjustment of a position marker since it can be independent from asurface of the laboratory transport system. In one embodiment, sensorscan include two or more reflective sensors configured to detect a gap ata marker at the side of the track. FIGS. 6A-6C show one such an example.FIG. 6A shows a transfer path arrangement 1700 that includes a finepositioning structure 1710 that includes one or more fine positioningmarkers 1720. In this example, fine positioning marker 1720 utilizes apattern that includes a gap that may be detected by reflective sensors1725 of laboratory product transport element 730. FIGS. 6B and 6C showlaboratory product transport element 730 in position when it hasdetected the positioning marker 1720. In some cases, the gap may be ahighly reflective surface separated by absorbing surfaces. Finepositioning structure 1710 may be moveable in some cases. In anotherembodiment, a fork light barrier may be provided that is interrupted bya cantilever piece from the side of the track. In another embodiment, aHall effect sensor in the laboratory product transport element andmagnets at the side bracket of a transfer path arrangement may providefor fine positioning. Also, active LEDs in the side bracket of atransfer path arrangement and IR detectors in the laboratory producttransport element may be utilized for fine positioning in someembodiments. FIG. 6D shows a side view of the transfer path arrangement1700 with fine positioning structure 1710 and laboratory producttransfer element 730. The top of positioning structure acts as lift-offprevention.

Some embodiments may include laboratory product transport elements thatare also configured for lift-off prevention. FIGS. 7A-7D, for example,provide an embodiment that can provide both fine position and lift-offprevention. FIG. 7A shows a laboratory product transport element 730that includes multiple lateral protrusions 1810. For this embodiment,lateral protrusions 1810 may be lateral rails. Other embodiments mayinclude lateral protrusions 1810 with other configurations, such aslateral posts. Lateral protrusions 1810 may be coupled with housing 1805of laboratory product transport element 730. In some cases, lateralprotrusions 1810 may be fixed or made part of the housing 1805. In someembodiments, lateral protrusions 1810 may be adapted to be connected anddisconnected from housing 1805.

FIG. 7B shows an example of a laboratory product transport element 730following a line 1811 on a transfer path arrangement. FIG. 7B shows arail element 1820 that is part of the transfer path arrangement. In someembodiments, rail element 1820 may be mountable on the transfer patharrangement such that it may be attachable and/or removable from thetransfer path arrangement. Rail element 1820 includes one or more slots1830 that may be configured to cooperatively work with lateralprotrusions 1810 by receiving the lateral protrusions 1810. Someembodiments may include other elements coupled with rail element 1820that may be configured to couple with the lateral protrusions 1810. FIG.7C shows the location where laboratory product transport element 730 maydetermine that it is at a fine positioning location. At this point,laboratory product transport element 730 may begin rotating 1840 suchthat lateral protrusion 1810 may couple with slots 1830 of rail element1820. FIG. 18D shows the position where the lateral protrusion 1810meets portion 1850 of the rail element 1820 that defines a portion ofthe slot 1830, effectively stopping the laboratory product transportelement 730 from rotating further. This position may be a predefinedposition for the laboratory product transport element 730. Furthermore,the lateral protrusion 1810 coupled with slot 1830 may now provide forlift-off protection for the laboratory product transport element 730.

FIGS. 8A-8D provide another embodiment that can provide both fineposition and lift-off prevention. FIG. 8A shows a laboratory producttransport element 730 that includes multiple groove structures 1912. Forsome embodiments, groove structure 1912 may be a hook structure. Otherembodiments may include groove or hook structures 1912 with otherconfigurations. Groove structure 1912 may be part of the housing 1905 ofthe laboratory product transport element 730.

FIG. 8B shows an example of a laboratory product transport element 730following a line 1911 on a transfer path arrangement. FIG. 8B shows arail element 1920 that is part of the transfer path arrangement. In someembodiments, rail element 1920 may be mountable on the transfer patharrangement such that it may be attachable and/or removable from thetransfer path arrangement. Rail element 1920 includes protrusionelements 1921 that may couple with groove structure 1912 of thelaboratory product transport element 730. Protrusion element 1921 mayalso be configured in some embodiments to be attachable and/or removablefrom rail element 1920.

FIG. 8C shows the location where laboratory product transport element730 may determine that it is at a fine positioning location. At thispoint, laboratory product transport element 730 may begin rotating suchthat groove structure 1912 may couple with a protrusion element 1921.

FIG. 8D shows the position where the groove structure 1912 meetsprotrusion element 1921 of rail element 1920, effectively stopping thelaboratory product transport element 730 from rotating further. Thisposition may be a predefined position for the laboratory producttransport element 730. Furthermore, the groove structure 1912 coupledwith protrusion element 1921 may provide for lift-off prevention for thelaboratory product transport element 730.

In some embodiments, a signal of line-following sensor can also be usedto determine the actual position of the laboratory product transportelement and transfer this information to a central controller. Thecontrol unit then can use this value and reposition a robot or otheraccessing device to the new position. In that case, performing apositioning movement is not necessary for the laboratory producttransport element at all. Some embodiments may use active trackcomponents like active driven clamps forcing the laboratory producttransport element to the exact position and hold it firmly during theprocess.

Throughput Control at Intersections

Some embodiments provide methods, systems, and/or devices for managingthroughput control at intersections. Embodiments may provide for alaboratory transport system to reach a maximum throughput control with aminimum stress for different laboratory products. Embodiments of theinvention can provide for handling traffic at intersections where theremay be a potential collision between laboratory product transportelements. Embodiments of the invention may provide techniques to gainmaximum throughput using a combination of near-field communicationdevices and collision sensors.

Intersections are often the bottleneck for throughput in laboratorytransport systems. For example, laboratory product transport elementscan get either stopped unnecessarily or at least longer than necessaryat intersections, which can lead to queues and undesirable motion for alaboratory product when a laboratory product transport element meetsanother transport element at the end of a queue. Embodiments can allowfor multiple laboratory product transport elements at intersections.

Embodiments provide methods, systems, and device that can utilize acombination of near field communication and collision control sensors.In some cases, the collision sensors may be analogue sensors. At certainpoints in time and/or location, a laboratory product transport elementmay be switched from near-field communication controlled to collisionsensor controlled and vice-versa. Embodiments can be controlled in a waythat two collision sensors can avoid a deadlock situation where rivolaboratory product transport elements each wait for the other one todisappear. Moreover, in cases where leaving or merging laboratoryproduct transport elements use higher speeds in turns, the impact to thethroughput can be further minimized.

Embodiments may allow more than one laboratory product transport elementin an intersection area when the collision control works properly. Insome cases, the travel time for taking an exit at an intersection from adecision point to a safe position may take a certain amount of time(e.g., greater than 1 second) without any communication latency.Repeatability of the actual position of different laboratory producttransport elements at the moment of the first near-field communicationdevice contact may be important in different situations. For example, anear-field communication device may need to mark the “stop” or “wait”position. A laboratory product transport element may need to communicatevia a near-field communication device in the stop position. Thepositions of the near-field communication device (which may be referredto as near-field communication coils in some cases) in the track of alaboratory transport system may have a big influence to the throughput.A diversion can be controlled without mandatory stops. The collisionsensors can control the flow.

Near-field communication devices can have different functions. Forexample, a near-field communication device may include a landmarkfunction, where in front of a diversion, the laboratory producttransport element may need to decide whether it stays on the track ortakes the exit. Other function may be a stop-only-on-demand function,which may be utilized in front of a merge to avoid deadlock and tocontrol priority. Another function may be an exit confirmation, whichmay provide for information for the traffic control after a junction(e.g. to calculate a queue size, etc.). Another function may be an exitconfirmation after merge function to allow the a next laboratory producttransport element to enter the merge-area. Some functions may refer tospecific functional spots (put tube, de-cap, re-cap, etc.) which mayalso act as a stop function.

A laboratory product transport element may utilize its line-followingand collision sensors. When a laboratory product transport element movesclose enough to a near-field communication device of the laboratorytransport system, it may receive a variety of signals that may helpdirect the laboratory product transport element through an intersection.These signals may include stop signals. The signals from the near-fieldcommunication device may rule the collision control detection resultsfrom a collision sensor of the laboratory product transport element,which may indicate an open passage without recognizing that anotherlaboratory product transport element may be in the process of enteringthe intersection, but is outside the range of the collision sensor. Notethat for energy savings reasons, the collision sensors may be switchedoff during times when the laboratory product transport element may bestopped by a signal from a near-field communication device. Similartechniques may be utilized for the line-following sensors of alaboratory product transport element.

Near-field communication devices located at different positions within alaboratory transport system and laboratory product transport elementsallow for two-way communication between these devices. In someembodiments, near-field communication devices of the laboratorytransport system may be in communication with each other and/or acentral controller. While the following embodiments provide exampleswith near-field communication devices, some embodiments may utilize RFIDtags, barcodes, alternating line patterns, etc., although theseembodiments may or may not provide for two-way communication.

FIGS. 9A-9H show one example of utilizing throughput control methods inaccordance with various embodiments. FIGS. 9A-9H provide an examplewhere one or more laboratory product transport elements 730 cancommunicate with near field communication devices associated with one ormore intersections of a laboratory transport system.

FIGS. 9A-9H show an example of throughput control at an intersection inaccordance with various embodiments of the invention. This example maybe referred to as a diversion embodiment. In FIG. 9A, multiplelaboratory product transport elements 730 are shown traveling along atransfer path, following line 2011-a. Several near field communicationdevices 2010 are located before and after an intersection 2020.

FIG. 9A shows laboratory product transport element 730-a incommunication with near field communication device 2010-a located alongline 2011-a, where it may receive information. Laboratory producttransport elements 730 may include a near-field communication device orcomponent to receive from or to transmit to near-field communicationdevices such as 2010. In this case, laboratory product transport element730-a may receive instructions to proceed through the intersection 2020.

FIG. 9B shows laboratory product transport element 730-a proceedingthrough the intersection 2020 while maintaining itself on direction line2011-a. In addition, laboratory product transport element 730-b beginscommunication with near field communication device 2010-a. Laboratoryproduct transport element 730-b can begin receiving information aboutthe location. In this example, laboratory product transport element730-b may have information to turn right at the next exit orintersection 2020.

FIG. 9C shows laboratory product transport element 730-b havingproceeded further over the near field communication device 2010-a whereit has received information from the near field communication device2010-a.

FIG. 9D shows the point where laboratory product transport element 730-bis at the point where it may be able to communicate with the near fieldcommunication device 2010-a before it proceeds too far to communicatewith near field communication device 2010-a. This may be a last point toupdate the laboratory product transport element's 730-b route planthrough the intersection 2020.

In FIG. 9E, laboratory product transport element 730-a may communicatewith near-field communication device 2010-b, where it may confirm thatit is exiting from the intersection 2020 region. This may help informthe traffic control.

In FIG. 9F, laboratory product transport element 730-c may startcommunicating with near-field communication device 2010-a, whilelaboratory product transport element 730-b continues to turn atintersection 2020 onto line 2011-b.

FIG. 9G shows the point where laboratory product transport element 730-bcan communicate with near-field communication device 2010-c along line2011-b, confirming its exit from intersection 2020.

FIG. 9H shows an example further in time after laboratory producttransport element 730-b has finished exiting intersection 2020 andcontinues to proceed along line 2011-b.

FIGS. 9I and J show graphs reflecting the speed and lost distance for alaboratory product transport element 730-c that may be followinglaboratory product transport element 730-b.

FIGS. 10A-10F show another example of throughput control atintersections in accordance with various embodiments. This example maybe referred to as a merge example. A merge may require multiple stoppositions for the laboratory product transport elements 730. They may beone of a main lane, such as along line 2111-a, to avoid deadlocks. Acommon exit near-field communication device, such as 2110-b, may also beused. In the case where there are no laboratory product transportelements 730 on the other lane or line, a laboratory product transportelement 730 can pass without temporary stopping.

In this merge example, two laboratory product transport elements 730-a,730-b may be stopped, one on line 2111-a and one 2111-b. In FIG. 10A,laboratory product transport element 730-a may start communication withnear-field communication device 2110-a. In FIG. 10B, laboratory producttransport element 730-a may get clearance from near-field communicationdevice 2110-a to enter the merge area 2120. In addition, laboratoryproduct transport element 730-b may start communicating with near-fieldcommunication device 2110-c. In FIG. 10C, laboratory product transportelement 730-b receives information from near-field communication device2110-c to stop, and thus it stops.

FIG. 10D shows the point where laboratory product transport element730-a may start communicating with near-field communication point 2110-bat the merge area 2120. Laboratory product transport element 730-a canconfirm that it is exiting the merge area 2120. At this point,laboratory product transport element 730-a is now in the collisioncontrol area of laboratory product transport element 730-b. As result,laboratory product transport element 730-b can get the clearance to gofrom near-field communication point 2110-c. Note that if the near-fieldcommunication point 2110-a were positioned further to the left alongline 2111-a and therefore already communicating with laboratory producttransport element 730-c, the traffic control could give priority to thelaboratory product transport element 730-c. In this example, laboratoryproduct transport element 730-c is just beginning communication withnear-field communication device 2110-a, where it receives a stop signalas laboratory product transport element 730-b is entering the merge area2120.

FIG. 10E shows laboratory product transport element 730-b entering mergearea 2120 where it may begin following line 2111-a. It may begincommunicating with near-field communication device 2110-b. As soon aslaboratory product transport element 730-b can give an exit confirmationto near-field communication point 2110-b, laboratory product transportelement 730-c may receive a clearance signal from near-fieldcommunication device 2110-a. Laboratory product transport element 730-cmay proceed, but may go at a slow speed as its collision sensors maykeep it a certain distance from laboratory product transport element730-b.

FIG. 10F shows laboratory product transport element 730-b now completelyon line 2111-a, following laboratory product transport element 730-a.Note that there may be a bigger distance between laboratory producttransport element 730-b and laboratory product transport element 730-athan there is between laboratory product transport element 730-b andlaboratory product transport element 730-c due to this mergingprocedure.

FIGS. 11A-11E show another example of throughput control atintersections in accordance with various embodiments. This example maybe referred to as a diversion-merge, or pull-off, example. A pull-offexample may require a stop position between a diversion area and a mergearea to achieve the highest throughput.

In FIG. 11A, laboratory product transport element 730-c may communicatewith near-field communication point 2210-d, where it receives a stopsignal before it enters merge area 2220. It may receive this stop signalbecause laboratory product transport element 730-b is on its way to themerge area. In another case, laboratory product transport element 730-ccould get clearance to proceed, in which case laboratory producttransport element 730-b may be forced to stop at near-fieldcommunication device 2210-b and stop the queue of other laboratoryproduct transport elements behind it. As there may be a leavinglaboratory product transport element 730-a behind laboratory producttransport element 730-b, the better decision may be to let thelaboratory product transport element 730-b proceed and use the gap fromthe leaving laboratory product transport element 730-a for the merginglaboratory product transport element 730-c.

In FIG. 11B, laboratory product transport element 730-b can confirm itsexit from the merge area 2220 by communicating with near-fieldcommunication device 2120-c. At this point, near-field communicationdevice 2210-d may communicate with laboratory product transport element730-c, giving it clearance to proceed. FIG. 1 IC shows laboratoryproduct transport element 730-c beginning to communicate with near-fieldcommunication device 2210-c, giving an exit confirmation. As a result,they may be no need to send a stop signal to laboratory producttransport element 730-e as its collision sensors would communicate theneed to decelerate.

FIG. 11D shows merging laboratory product transport element 730-cslipping into the gap between laboratory product transport elements730-b and 730-e. FIG. 11E then shows the next merging laboratory producttransport element 730-g getting clearance to proceed as laboratoryproduct transport element 730-f communicates its exit to near-fieldcommunication device 2210-c.

FIGS. 12A-12F show another example of throughput control atintersections in accordance with various embodiments. This example maybe referred to as a shortcut example. In FIG. 23A, laboratory producttransport element 730-a is traveling along line 2311-a and communicateswith near-field communication device 2310-c, receiving a clearancesignal. Laboratory product transport element 730-b is following line2311-b and just proceeds straight on, receiving a signal from near-fieldcommunication device 2310-a. In FIG. 12B, laboratory product transportelement 730-c reaches near-field communication device 2310-a. Trafficcontrol may need to decide which lane or line of laboratory producttransport elements should get priority. In this example, the laboratoryproduct transport elements 730 following line 2311-a have been givenhigher priority, which means the impact to the throughput on line 2311-acan be lower than line 2311-b, and may be as low as possible. Laboratoryproduct transport element 730-d on line 2311-a may receive a clearancesignal from near-field communication device 2310-c. If the lower lanealong line 2311-b had been given priority, laboratory product transportelement 730-d could have been given a stop signal. FIG. 12C showslaboratory product transport element 730-c as it attempts to merge ontoline 2311-a. It is communicating with near-field communication point2310-d, where it may receive a stop signal to allow laboratory producttransport elements 730 along line 2311-a to proceed because of theirhigher priority.

FIG. 12D shows laboratory product transport element 730-c receiving aclearance signal from near-field communication device 2310-d aslaboratory product transport element 730-d passes over near-fieldcommunication device 2310-b, confirming its exit. Laboratory producttransport element 730-e may be stopped at near-field communicationdevice 2310-c. FIG. 12E shows laboratory product transport element 730-ccommunicating with near-field communication device 2310-b, confirmingits exit from the merge area. At this point, laboratory producttransport element 730-e can get clearance and proceeds, utilizing itscollision sensors to control its distance between it and otherlaboratory product transport elements, such as laboratory producttransport element 730-c.

FIG. 12F shows the point where all of the laboratory product transportelements 730 are continuing on the lines 2311 that they are presentingfollowing, and they may reach travel speed again. Depending on thepriority, the lane which receives a laboratory product transport elementmay not lose much throughput, similar to a perpendicular merge. The lanewhere the turning laboratory product transport element is coming frommay lose throughput. For example, in the case of a 1:1 ratio where everysecond laboratory product transport element 730 takes the shortcut, theremaining throughput of the lower lane may be less than the throughputfor the upper lane. A bigger distance between the lanes, such as greaterthan a laboratory product transport element diameter, may help in somecases. The shortcut could be regarded as two independent intersections,such as a diversion and a merge.

FIGS. 13A and 13B show two additional examples of throughput control atone or more intersections in accordance with various embodiments. Theseexamples utilize RFID tags 2411 and 2424. Some of these RFID tags, suchas 2411, may be positioned before an intersection such as 2420 and 2421;these RFID tags may be referred to as entry RFID tags or enterswitch—RFID tags. Some of the RFID tags, such as 2424, may be positionedafter an intersection such as 2420 and 2421; these RFID tags may bereferred to as exit RFID tags or exit switch-RFID tags. A laboratoryproduct transport element 730 may include an RFID reader that may beable to read the RFID tags positioned before and/or after anintersection and read information from respective RFID tags such as 2411and/or 2424 to determine a status of a laboratory product transportelement's 730 status with respect to the intersection. Throughputcontrol at an intersection may be operated in different ways. In someembodiments, a central controller, such as a line controller, mayreceive a request for intersection status, such as blocked or free. Insome embodiments, local intersection controllers may be utilized thatprovide signals autonomously when the intersection is blocked or free.

Energy Savings

Some embodiments include methods, systems, and/or devices that mayprovide energy savings for a laboratory product transport element.Laboratory product transport elements may utilize an energy accumulator,such as a battery or fuel cell. As a result, saving power and thereforea lower charging frequency may be beneficial for different systems.Laboratory product transport elements may utilize information regardingits transportation environment, such as a transfer path arrangement.This information may be utilized in some cases to effectively use powerreduction measures.

Embodiments may utilize a variety of techniques to minimize powerconsumption. In several embodiments, techniques for reducing powerconsumption may utilize adaptable polling frequency. Depending on thelocation with a laboratory transport system, such as transfer patharrangement, or other situation in the process, a frequency of a sensorpolling can be adapted. The lower the frequency of a sensor polling, thelower the power consumption may be. A variety of different sensors ordevices may utilize this adaptable polling frequency approach. Forexample, collision sensors may utilize adaptable polling frequency. Forexample, a collision sensor may reduce its polling frequency in a queueof laboratory product transport elements. In some cases, a collisionsensor's polling frequency may be adjusted, including reducing itspolling frequency, based on its speed, to adapt the frequency to apolling frequency appropriate for the laboratory product transportelements speed. Line following sensors may also utilize adaptablepolling frequency methods. In some case, a line following sensor'spolling frequency may be adjusted, including reducing its pollingfrequency, based on its speed, to adapt the frequency to a pollingfrequency appropriate for the laboratory product transport elementsspeed. Communication modules may also utilize adaptable pollingfrequency methods, based on the frequency that communication may need tooccur. Some laboratory product transport elements may include a holderthat may be able to detect the presence of a laboratory product.Adaptable polling frequency methods may be utilized by reducing and/orminimizing the polling frequency when the holder is empty.

Energy saving may also be achieved in some embodiments through the useof selective activation and/or deactivation of electronic components. Incertain situations, some components can even be switched off completely.For example, drive device controllers may be selectively activatedand/or deactivated when a laboratory product transport element is notmoving, as in general, there is may be no need for motion control when alaboratory product transport element stands still. Different sensors mayalso be selectively activated and/or deactivated. For example,collisions sensors may be deactivated when it may not be necessary forthe collision sensor to detect other laboratory product transportelements. This may occur for example when the laboratory producttransport element is located in different locations, such as aprocessing station or when it is stationary in a queue. A collisionsensor may then be selectively activated when it may be needed again,for example, when the laboratory product transport element begins movingagain or leaves a particular portion of a transfer path arrangement.Similarly, line following sensors may be selectively activated and/ordeactivated. Communication units may also be selectively activatedand/or deactivated in order to save energy. For example, when alaboratory product transport element is in a waiting queue, thecommunication unit can be switched off until the laboratory producttransport element moves on. Other sensors, units, and/or aspects of alaboratory product transport element may utilize selective activationand/or deactivation that may help reduce energy consumption.

Energy saving may also be achieved through movement and/or motioncontrol of a laboratory product transport element. For example, drivedevices may be operated at different speeds in order reduce energyconsumption. Smooth acceleration of a laboratory product transportelement in waiting queues may aid in reducing energy consumption. Alaboratory product transport element with reduced velocity when enteringa track segment with a known queue may also provide energy savings. Insome cases, high speeds may be used only where there is a certainprobability to keep the high speed for a certain time in order to reducepower consumption. Other movement and/or motion control of a laboratoryproduct transport element may achieve energy savings.

Sample Quality Protection

Some embodiments provide methods, systems, and/or devices for samplequality protection. For example, samples on automated systems can havemany different statuses including, but not limited to: open(de-capped)/closed (capped); liquid fill level differs from tube totube; different type of material like serum, plasma, urines, etc.; tubeswith gel or without gel; and/or platelet poor plasma/platelet freeplasma. Some of these samples may require a certain care attransportation to avoid remixing, spilling or other loss of quality,while other samples may not require careful transportation. As a generalrule it can be said, the less movement, the better for the samplequality. Some embodiments provide a possibility to adapt the individualtransport parameters (e.g. velocity, acceleration, and deceleration) tothe individual needs of every single sample.

Some embodiments may include moving parameters for different laboratoryproduct transport elements, such as element 30 and/or element 730. Someembodiments may include combinations of movement parameters.

In some embodiments, movement parameters may be stored in a laboratoryproduct transport element. When a laboratory product 50 is put into aholder of a laboratory product transport element 730, a central controlcan transfer the properties of the laboratory product 50 to thelaboratory product transport element 730. The laboratory producttransport element 730 itself can determine the appropriate movementparameters out of a internally stored list and performs the movementautonomously. The laboratory product transport element 730 may be awareof the physical layout and the topology of the transfer path arrangementor laboratory transport system and may have a sufficient memory size andCPU performance to perform the movement parameters.

In some embodiments, movement parameters may be updated at differentlocations or nodes within the transfer path arrangement. This technologymay involve both a fast communication with very little latency and asufficient calculation performance of a central controller. Thisapproach may provide advantages in that it is possible to react to theactual track situation and adjust the parameters accordingly. Forexample, it may not make sense to accelerate to an enormous highvelocity when there is a queue in front of the next node. In combinationwith a powerful scheduler, this option can provide the smoothestpossible control.

Some embodiments may utilize a combination of stored movement parameterson the laboratory product transport element along with receivingmovement parameters as the laboratory product transport element movesaround a transfer path arrangement. For example, some embodiments mayinclude one or more tables of movement parameters that may be stored ina memory unit in the laboratory product transport element. An example ofa table is in Table 1 below. The laboratory product transport elementmay get the number or ID of the movement parameters to be use atdifferent locations or nodes in a transfer path arrangement; the numberor ID may be selected by a central controller. The memory unit in thelaboratory product transport element can have code, executable by thecontrol unit to implement a method including causing the laboratoryproduct transport element to travel in a path on a transport patharrangement, wherein the path has a plurality of nodes associated withthe path, and wherein the laboratory product transport element movesaccording to the movement profiles and movement parameters associatedwith the nodes. Embodiments of the invention can provide advantages suchas lower data transfer but still with the option to select theparameters according to the track situation.

TABLE 1 Predefined Movement Movement Sample ID Profile Parameter NodeStatus 001 Straight path maintain standard A Has sample velocity 002 90degree bend decelerate B Has sample 003 Right curve decelerate C Hassample 004 Straight path accelerate D Has sample 005 Straight pathAccelerate to E No sample maximum velocity 006 Left turn Move at maximumF No sample velocity

Table 1 above shows some examples of predefined movement profiles andmovement parameters that can be associated with different nodes atdifferent points in a transfer path arrangement. Embodiments of theinvention are not limited to these specific movement profiles ormovement parameters.

As noted in Table 1 above, the velocity of the laboratory producttransport element may vary depending upon a number of factors includingthe geometry of the track. The velocity (or other control parameter) mayalso depend on the type of sample in a laboratory product or thepresence of the sample in the laboratory product. For instance, if thesample has been centrifuged, then the laboratory product transportelement may move slowly to avoid upsetting the separation of componentsin the laboratory product. If the sample is not present, then thelaboratory product transport element may be programmed to move quicklyto improve throughput.

Embodiments may provide different advantages by providing individualmovement parameters, such as velocity information, for specificlaboratory product transport elements that may be carrying specificlaboratory products. For example, an empty laboratory product transportelement or laboratory product transport elements with empty laboratoryproducts can move with maximum velocities, acceleration, and/ordeceleration. Movement parameters may help reduce the necessary numberof laboratory product transport elements since unproductive, empty-timecan be minimized.

In some cases, adaptable velocity parameters can provide the possibilityto move fast on straight sections and decelerate in front of a bend.This may allow for high speed track sections and/or velocity parametersthat are not limited by bend radiuses. In some cases, in cumulatingqueues, acceleration and/or deceleration can be reduced to a minimum.This may provide for sample care along with minimizing powerconsumption.

In some cases, battery status may also influence the movementparameters. For example, in case the battery or energy accumulator ingeneral is low, the velocity, acceleration, and/or deceleration can bereduced to save energy. In this case, laboratory product transportelement energy starvation becomes very unlikely.

FIG. 14 shows a block diagram of some components in a laboratory producttransport element according to an embodiment of the invention. Many ofthe components in FIG. 14 are already described in detail above, and thedescriptions above are herein incorporated by references. FIG. 14 showsa central control unit 3010, which may be in the form of one or moreprocessors such as one or more microprocessors. A memory unit 3018 maybe coupled to the control unit 3010. The memory unit 3018 may compriseand store code, executable by the processor in the control unit 3010 toperform any of the above described functions described above, includingbut not limited to fine positioning, lift-off protection,self-diagnosis, collision avoidance, etc.

An energy source 3040 (e.g., an energy accumulator and/or an energyreceiver) may provide power to a drive device 3036 (e.g., a motor),which may be coupled to a movement device 3038 (e.g., a wheel). As shownand as described above, a position detector 3042, a display unit 3052and a recorder unit 3062 may also be operatively coupled (e.g.,electrically coupled) to the control unit 3010.

In order to communicate with its external environment, one or moresensors 3044 may be operatively coupled to the control unit 3010, andone or more signal receivers and transmitters 3106 can be coupled to thecontrol unit 3010. The sensors 3044 may communicate with devices such asnear field communication devices on a transfer path. The signalreceiver(s) 3016 receive control and/or drive signals for the laboratoryproduct transport element from a host control system. The signaltransmitters 3016 can transmit signals to the host control systemregarding its status (e.g., its internal status, its status with respectto other laboratory product transport elements, etc.).

FIG. 15 shows a block diagram illustrating some components of a hostcontrol system according to an embodiment of the invention. Many of thecomponents in FIG. 15 are already described in detail above, and thedescriptions above are herein incorporated by references. It may includea central processor 3100, which can be powered by an energy source 3138.A display unit 3152 and a user interface 3150 may be coupled to thecontrol processor 3100 to provide information and control to a user ofthe host control system. A memory unit 3158 may be coupled to thecentral processor 3100 and it may store code for causing the centralprocessor 3100 to perform any of the functions described above forcontrolling or managing the movement of the various laboratory producttransport elements described above including collision avoidance,traffic control, status, etc.

To communicate with the laboratory product transport elements, a signaltransmitter 3140 for transmitting control signals to the laboratorytransport product elements, a signal receiver 3142 for receiving signalsfrom the laboratory product transport elements, and near fieldcommunication devices 3048 may be controlled by and in operativecommunication with the central processor 3100.

The previous description provides exemplary embodiments only, and is notintended to limit the scope, applicability, or configuration of thedisclosure. Rather, the previous description of the exemplaryembodiments will provide those skilled in the art with an enablingdescription for implementing one or more exemplary embodiments. It isunderstood that various changes may be made in the function andarrangement of elements without departing from the spirit and scope ofthe invention. Several embodiments were described herein, and whilevarious features are ascribed to different embodiments, it should beappreciated that the features described with respect to one embodimentmay be incorporated within other embodiments as well. By the same token,however, no single feature or features of any described embodimentshould be considered essential to every embodiment of the invention, asother embodiments of the invention may omit such features.

Specific details are given in the previous description to provide athorough understanding of the embodiments. However, it will beunderstood by one of ordinary skill in the art that the embodiments maybe practiced without these specific details. For example, circuits,systems, networks, processes, and other elements in the invention may beshown as components in block diagram form in order not to obscure theembodiments in unnecessary detail. In other instances, well-knowncircuits, processes, algorithms, structures, and techniques may be shownwithout unnecessary detail in order to avoid obscuring the embodiments.

Also, it is noted that individual embodiments may be described as aprocess which is depicted as a flowchart, a flow diagram, a data flowdiagram, a structure diagram, or a block diagram. Although a flowchartmay describe the operations as a sequential process, many of theoperations can be performed in parallel or concurrently. In addition,the order of the operations may be re-arranged. A process may beterminated when its operations are completed, but could have alsoincluded additional steps or operations not discussed or included in afigure. Furthermore, not all operations in any particularly describedprocess may occur in all embodiments. A process may correspond to amethod, a function, a procedure, a subroutine, a subprogram, etc. When aprocess corresponds to a function, its termination corresponds to areturn of the function to the calling function or the main function.

Furthermore, embodiments may be implemented, at least in part, eithermanually or automatically. Manual or automatic implementations may beexecuted, or at least assisted, through the use of machines, hardware,software, firmware, middleware, microcode, hardware descriptionlanguages, or any combination thereof. When implemented in software,firmware, middleware or microcode, the program code or code segments toperform the necessary tasks may be stored in a machine readable medium.A processor(s) may perform the necessary tasks.

While detailed descriptions of one or more embodiments have been giveabove, various alternatives, modifications, and equivalents will beapparent to those skilled in the art without varying from the spirit ofthe invention. Moreover, except where clearly inappropriate or otherwiseexpressly noted, it should be assumed that the features, devices, and/orcomponents of different embodiments may be substituted and/or combined.Thus, the above description should not be taken as limiting the scope ofthe invention. Lastly, one or more elements of one or more embodimentsmay be combined with one or more elements of one or more otherembodiments without departing from the scope if the invention.

1-68. (canceled)
 69. A laboratory product transport element comprising: an energy source configured to furnish drive power; at least one signal receiver configured to receive control signals; a control unit configured to generate drive signals as a function of at least one control signal obtained from the at least one signal receiver; at least one movement device, with which the laboratory product transport element can move independently on a transfer path; at least one drive device configured to drive the at least one movement device as a function of the drive signals of the control unit, the at least one drive device being driven by the drive power; and at least one holder to hold a laboratory product to be transported; the laboratory product transport element further comprising an external communication interface, an output device, and a memory unit coupled to the control unit, wherein the memory unit comprises code executable by the control unit to implement a method comprising generating an error signal if the laboratory product is improperly removed from the at least one holder.
 70. The laboratory product transport element of claim 69 wherein the method further comprises: detecting the improper removal of the laboratory product with an optical sensor.
 71. The laboratory product transport element of claim 69 wherein the method further comprises: detecting the improper removal of the laboratory product with a mechanical sensor.
 72. The laboratory product transport element of claim 69 wherein the method further comprises: detecting the improper removal of the laboratory product with a radio-frequency identification (RFID) tag coupled with the laboratory product.
 73. The laboratory product transport element according to claim 69 wherein the error signal is a first error signal and wherein the method further comprises: generating a second error signal when the laboratory product transport element is improperly removed from a predefined path that the laboratory product transport element is intended to follow.
 74. The laboratory product transport element of claim 69 wherein the method further comprises: detecting the improper removal of the laboratory product transport element with a line following sensor coupled with the laboratory product transport element.
 75. The laboratory product transport element of claim 69 wherein the method further comprises: detecting the improper removal of the laboratory product transport element with a drive signal.
 76. The laboratory product transport element of claim 69 wherein the method further comprises: detecting the improper removal of the laboratory product transport element using a central control.
 77. The laboratory product transport element of claim 69 wherein the method further comprises: sending a signal reporting the one or more errors signals.
 78. The laboratory product transport element of claim 69 wherein the method further comprises: generating one or more verification signals, wherein the verification signal reflects a successful sample product load, a successful sample product unload, or a successful sample product decapping.
 79. The laboratory product transport element of claim 69 wherein the method further comprises: directing the laboratory product transport element to a specific location after generating the error signal.
 80. A method of controlling a laboratory product transport element according to claim 69, wherein the method comprises: generating the error signal if the laboratory product is improperly removed from the at least one holder.
 81. The method according to claim 80, wherein improper removal of the laboratory product from the at least one holder is detected by means of an optical sensor, a mechanical sensor, a radio-frequency identification (RFID) tag coupled with the laboratory product, a line following sensor coupled with the laboratory product transport element, a drive signal or using a central control.
 82. The method according to claim 80 wherein the error signal is a first error signal and wherein the method further comprises: generating a second error signal when the laboratory product transport element is improperly removed from a predefined path that the laboratory product transport element is intended to follow.
 83. The method according to claim 82 wherein the method further comprises directing the laboratory product transport element to a specific location after generating the second error signal. 